Surgical instrument and endoscopic surgery system

Abstract

The invention discloses a surgical instrument and an endoscopic surgery system, and relates to the technical field of surgical equipment.The surgical instrument comprises a main shell, a first fingerstall, a second fingerstall, a transmission wheel mechanism and a clamping jaw; the main shell is connected with a driving mechanism; the first fingerstall and the second fingerstall are rotationally connected to the first end of the main shell; the input end of the transmission wheel mechanism is in transmission connection with the rotating shaft of the first fingerstall and the rotating shaft of the second fingerstall through a traction assembly; the clamping jaw is connected to the second end of the main shell in an opening and closing mode. The clamping jaw is in transmission connection with the output end of the transmission wheel mechanism; when the first fingerstall and the second fingerstall rotate in the direction away from each other, the traction assembly drives the transmission wheel mechanism to rotate according to a first rotation mode so as to drive the clamping jaw to be opened. When the first fingerstall and the second fingerstall rotate in the direction close to each other, the traction assembly drives the transmission wheel mechanism to rotate in a second rotation mode so as to drive the clamping jaw to be closed. According to the scheme, opening and closing of the clamping jaws can be controlled through opening and closing of fingers, visual operation habits are better met, and operation difficulty is lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical equipment, in particular to a surgical instrument and a laparoscopic surgery system. BACKGROUND

[0002] In surgical operations, for example, in laparoscopic surgeries, a microchannel needs to be established on the surface of a patient's body, and an elongated surgical instrument needs to be sent to the operation field through the channel; the distal end of the surgical instrument is provided with a clamping jaw or the like mechanism for clamping human tissues and performing other surgical operations.

[0003] Traditional surgical instruments usually adopt a combination of a rigid rod body and a clamping jaw, and the lever mechanism of the proximal handle is used to transmit the hand movements of the operator to the distal clamping jaw. Although this design can achieve the basic opening and closing movements of the clamping jaw, there is a significant difference between the movements of the operator driving the lever mechanism and the opening and closing movements of the clamping jaw in terms of movement consistency; specifically, when the operator operates the lever mechanism, the movements do not directly correspond to the clamping or opening movements of the clamping jaw, and this difference does not conform to the intuitive operation habit, thereby increasing the difficulty of operation for the operator. SUMMARY

[0004] The main purpose of the present application is to provide a surgical instrument, which aims to solve the technical problem that the driving mode of the distal clamping jaw on the existing surgical instrument does not conform to the intuitive operation habit, thereby increasing the difficulty of operation for the operator.

[0005] To achieve the above-mentioned purpose, the surgical instrument provided by the present application comprises:

[0006] A main housing for connecting to a driving mechanism;

[0007] A first finger sleeve rotatably connected to the first end of the main housing;

[0008] A second finger sleeve rotatably connected to the first end of the main housing;

[0009] A transmission wheel mechanism, the input end of the transmission wheel mechanism is in transmission connection with the rotating shaft of the first finger sleeve and the rotating shaft of the second finger sleeve through a traction assembly;

[0010] A clamping jaw movably connected to the second end of the main housing; the clamping jaw is in transmission connection with the output end of the transmission wheel mechanism;

[0011] When the first finger sleeve and the second finger sleeve are rotated in directions away from each other, the transmission wheel mechanism is driven by the traction assembly to rotate in a first rotation mode, thereby driving the clamping jaw to open; when the first finger sleeve and the second finger sleeve are rotated in directions close to each other, the transmission wheel mechanism is driven by the traction assembly to rotate in a second rotation mode, thereby driving the clamping jaw to close.

[0012] In an embodiment, the transmission wheel mechanism comprises a first wheel set and a second wheel set, the first wheel set and the second wheel set are in transmission connection with the first finger sleeve and the second finger sleeve through an opening and closing traction member; the clamping jaw comprises a first jaw body and a second jaw body, the first jaw body is in transmission connection with the first wheel set through a first output traction member, and the second jaw body is in transmission connection with the second wheel set through a second output traction member;

[0013] When the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the first wheel set is driven to rotate forward and the second wheel set is driven to rotate reversely through the opening and closing traction member, so that the first wheel set drives the first jaw body to rotate away from the second jaw body through the first output traction member, and the second wheel set drives the second jaw body to rotate away from the first jaw body through the second output traction member;

[0014] When the first finger sleeve and the second finger sleeve rotate in a direction close to each other, the first wheel set is driven to rotate reversely and the second wheel set is driven to rotate forward through the opening and closing traction member, so that the first wheel set drives the first jaw body to rotate close to the second jaw body through the first output traction member, and the second wheel set drives the second jaw body to rotate close to the first jaw body through the second output traction member.

[0015] In an embodiment, the main shell comprises a connecting seat and a handle, the connecting seat is connected to the driving mechanism, the first wheel set and the second wheel set are rotationally connected to the connecting seat, the clamping jaw is openably and closably connected to the connecting seat, the handle is rotationally connected to the connecting seat around a vertical axis, and the handle is in transmission connection with the first wheel set and the second wheel set through a horizontal swing traction member; the first finger sleeve and the second finger sleeve are rotationally connected to the handle;

[0016] When the handle rotates left relative to the connecting seat, the first wheel set is driven to rotate forward and the second wheel set is driven to rotate forward through the horizontal swing traction member, so that the first wheel set drives the first jaw body to rotate away from the second jaw body through the first output traction member, and the second wheel set drives the second jaw body to rotate close to the first jaw body through the second output traction member;

[0017] When the handle rotates right relative to the connecting seat, the first wheel set is driven to rotate reversely and the second wheel set is driven to rotate reversely through the horizontal swing traction member, so that the first wheel set drives the first jaw body to rotate close to the second jaw body through the first output traction member, and the second wheel set drives the second jaw body to rotate away from the first jaw body through the second output traction member.

[0018] In an embodiment, the first wheel set comprises a first transmission wheel and a second transmission wheel, and the second wheel set comprises a third transmission wheel and a fourth transmission wheel; the first transmission wheel, the third transmission wheel are in transmission connection with the first finger sleeve, the second transmission wheel, the fourth transmission wheel are in transmission connection with the second finger sleeve, the first claw body is in transmission connection with the fourth transmission wheel through the first output traction member, and the second claw body is in transmission connection with the second transmission wheel through the second output traction member;

[0019] When the first finger sleeve rotates in a direction away from the second finger sleeve, the first transmission wheel rotates forward, and the third transmission wheel rotates reversely; the first transmission wheel drives the second transmission wheel to rotate reversely through the first transmission traction member, and the third transmission wheel drives the fourth transmission wheel to rotate forward through the second transmission traction member, so as to drive the second finger sleeve to rotate in a direction away from the first finger sleeve through the second transmission wheel and the fourth transmission wheel, and the fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate in a direction away from the first claw body through the second output traction member;

[0020] When the first finger sleeve rotates in a direction close to the second finger sleeve, the first transmission wheel rotates reversely, and the third transmission wheel rotates forward; the first transmission wheel drives the second transmission wheel to rotate forward through the first transmission traction member, and the third transmission wheel drives the fourth transmission wheel to rotate reversely through the second transmission traction member, so as to drive the second finger sleeve to rotate in a direction close to the first finger sleeve through the second transmission wheel and the fourth transmission wheel, and the fourth transmission wheel drives the first claw body to rotate in a direction close to the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate in a direction close to the first claw body through the second output traction member.

[0021] In an embodiment, the main shell comprises a connecting seat and a handle; the connecting seat is connected to the driving mechanism; the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel are rotationally connected to the connecting seat; the clamping jaw is connected to the connecting seat in an openable and closable manner; the handle is rotationally connected to the connecting seat about a vertical axis; the handle is in transmission connection with the first transmission wheel and the second transmission wheel through the first transmission traction member, and in transmission connection with the third transmission wheel and the fourth transmission wheel through the second transmission traction member;

[0022] When the handle rotates left relative to the connecting base, the first transmission traction member, the second transmission traction member drive the first transmission wheel, the second transmission wheel, the third transmission wheel, the fourth transmission wheel to rotate forward, so that the fourth transmission wheel drives the first claw body to rotate away from the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate towards the first claw body through the second output traction member;

[0023] When the handle rotates right relative to the connecting base, the first transmission traction member, the second transmission traction member drive the first transmission wheel, the second transmission wheel, the third transmission wheel, the fourth transmission wheel to rotate reversely, so that the fourth transmission wheel drives the first claw body to rotate towards the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate away from the first claw body through the second output traction member.

[0024] In an embodiment, the connecting base comprises a fixed seat body and a transfer platform, the fixed seat body is connected to the driving mechanism, the transfer platform is rotatably connected to the fixed seat body around a horizontal axis, the first wheel set and the second wheel set are rotatably connected to the transfer platform, and the handle is rotatably connected to the transfer platform around a vertical axis.

[0025] The surgical instrument further comprises an adapter block and a vertical swing traction member; the adapter block is rotatably connected to the fixed seat body around a horizontal axis, and the clamping jaw is movably connected to the adapter block; one end of the vertical swing traction member is in transmission connection with the transfer platform, and the other end of the vertical swing traction member is in transmission connection with the adapter block.

[0026] When the transfer platform rotates upward relative to the fixed seat body, the vertical swing traction member is driven to move forward, so as to drive the adapter block to rotate upward relative to the fixed seat body; when the transfer platform rotates downward relative to the fixed seat body, the vertical swing traction member is driven to move reversely, so as to drive the adapter block to rotate downward relative to the fixed seat body.

[0027] In an embodiment, the handle has a holding part and an extension part, the holding part extends along a vertical direction, the upper end of the holding part is connected to the lower side of the extension part, the holding part is located at the rear side of the extension part, and the lower end of the holding part is connected to the connecting base.

[0028] The first finger sleeve has a first ring body and a first connecting part, the upper side of the first ring body is connected to the front end of the first connecting part, the first ring body is used for horizontal insertion of fingers, and the rear end of the first connecting part is rotatably connected to the front side of the extension part around a vertical axis.

[0029] The second finger sleeve has a second ring body and a second connecting part, the upper side of the second ring body is connected with the front end of the second connecting part, the second ring body is used for horizontally inserting a finger, and the rear end of the second connecting part is rotatably connected with the front side of the outer extension part around a vertical axis.

[0030] In an embodiment, the surgical instrument further comprises an extension rod, one end of the extension rod is connected with the connecting seat, and the clamping jaw is movably connected with the other end of the extension rod.

[0031] In an embodiment, the surgical instrument further comprises a plurality of tensioning wheels, the tensioning wheels are connected to at least one of the first output traction member and the second output traction member.

[0032] The present application further provides a laparoscopic surgery system, which comprises a driving mechanism and the surgical instrument as described above, and the main shell of the surgical instrument is connected to the driving mechanism.

[0033] The surgical instrument provided by the present application is provided with the rotatable first finger sleeve and the second finger sleeve on the main shell, when the operator holds the main shell and inserts the corresponding fingers into the first finger sleeve and the second finger sleeve, the operator can drive the first finger sleeve and the second finger sleeve to rotate relative to the main shell through the opening and pinching action between the thumb and the index finger, so as to make the first finger sleeve and the second finger sleeve move away from each other or move close to each other; based on the opening and closing action of the first finger sleeve and the second finger sleeve, the transmission wheel mechanism can be driven by the traction assembly to rotate in the first rotation mode or the second rotation mode, and then the clamping jaw can be driven by the transmission wheel mechanism to open or close. Based on the above scheme, the opening and pinching action of the fingers of the operator can be ensured to correspond to the opening and closing action of the clamping jaw, so that the operation habit is more intuitive, and the operation difficulty of the operator is reduced; in addition, compared with the traditional mode of driving the clamping jaw to open and close through the lever mechanism, the belt transmission mode between the traction assembly and the transmission wheel mechanism has stronger linear control capability, so that the opening and closing action of the clamping jaw can be accurately corresponded to the opening and closing action of the fingers, and the situation that the clamping jaw is excessively opened or excessively closed due to the lever action is avoided to a certain extent, so that the control precision of the surgical instrument is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without any creative effort.

[0035] Figure 1A perspective view of an embodiment of the surgical instrument provided by the present application;

[0036] Figure 2 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0037] Figure 3 A perspective view of an embodiment of the surgical instrument provided by the present application; Figure 2 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0038] Figure 4 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0039] Figure 5 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0040] Figure 6 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0041] Figure 7 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0042] Figure 8 A perspective view of an embodiment of the surgical instrument provided by the present application;

[0043] BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 100、drive mechanism

[0045] 1、main housing; 101、connecting seat; 102、handle; 1011、fixed seat body; 1012、transfer table; 1021、grip portion; 1022、extension portion

[0046] 2、first finger sleeve; 201、first ring body; 202、first connecting portion

[0047] 3、second finger sleeve; 301、second ring body; 302、second connecting portion

[0048] 4、drive wheel mechanism; 401、first wheel set; 402、second wheel set; 4011、first drive wheel; 4012、second drive wheel; 4021、third drive wheel; 4022、fourth drive wheel

[0049] 5、traction assembly; 501、opening and closing traction member; 502、first output traction member; 503、second output traction member; 504、horizontal oscillation traction member; 505、vertical oscillation traction member; 5041、first drive traction member; 5042、second drive traction member

[0050] 6, jaw; 601, first jaw body; 602, second jaw body;

[0051] 7, adapter block; 8, extension rod; 9, tensioning wheel.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0054] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0055] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, “and / or” or “and / or” appearing throughout the text means that the three parallel schemes are included, for example, “A and / or B” includes A scheme, or B scheme, or A and B are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person of ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the present application.

[0056] In a surgical operation, for example, in a laparoscopic operation, a microchannel needs to be established on the surface of a patient, and an elongated surgical instrument is sent to the operation field through the channel; the end of the surgical instrument is provided with a jaw and other mechanisms, which are used for clamping human tissues and other surgical operations.

[0057] Traditional surgical instruments usually adopt the combination of rigid rod body and clamping jaw, and the action of the operator is transmitted to the distal clamping jaw through the lever mechanism of the proximal handle. This design can realize the basic opening and closing action of the clamping jaw, but there is a significant difference between the action of the operator driving the lever mechanism and the opening and closing action of the clamping jaw in action consistency; specifically, when the operator operates the lever mechanism, the action does not directly correspond to the clamping action or opening action of the clamping jaw, and this difference does not conform to the intuitive operation habit, thereby increasing the operation difficulty of the operator.

[0058] In order to solve the above problems, the present application provides a surgical instrument, which is provided with two rotatable finger sleeves on the main shell, when the operator holds the main shell and inserts the thumb and index finger into the two finger sleeves respectively, the operator can transmit power to the traction assembly through the opening and pinching action between the thumb and index finger, so as to drive the transmission wheel mechanism to rotate through the traction assembly, and then drive the clamping jaw to complete the opening and closing action, so as to ensure that the opening and pinching action of the operator's fingers corresponds to the opening and closing action of the clamping jaw, and more conforms to the intuitive operation habit, thereby reducing the operation difficulty of the operator.

[0059] Please refer to Figures 1 to 5 The surgical instrument provided by the present application comprises:

[0060] The main shell 1 is used for connecting to the driving mechanism;

[0061] The first finger sleeve 2 is rotatably connected to the first end of the main shell 1;

[0062] The second finger sleeve 3 is rotatably connected to the first end of the main shell 1;

[0063] The transmission wheel mechanism 4 is transmissionally connected with the rotating shaft of the first finger sleeve 2 and the rotating shaft of the second finger sleeve 3 through the traction assembly 5;

[0064] The clamping jaw 6 is openably and closably connected to the second end of the main shell 1; the clamping jaw 6 is transmissionally connected with the output end of the transmission wheel mechanism 4;

[0065] When the first finger sleeve 2 and the second finger sleeve 3 rotate in the direction away from each other, the transmission wheel mechanism 4 is driven to rotate in the first rotating mode through the traction assembly 5, so as to drive the clamping jaw 6 to open; when the first finger sleeve 2 and the second finger sleeve 3 rotate in the direction close to each other, the transmission wheel mechanism 4 is driven to rotate in the second rotating mode through the traction assembly 5, so as to drive the clamping jaw 6 to close.

[0066] In the embodiment, the main shell 1 can refer to a shell structure with a certain length formed by sequentially connecting different components. The first end of the main shell 1 can be used for holding by the operator. The second end of the main shell 1 is connected with the clamping jaw 6, and the second end of the main shell 1 and the clamping jaw 6 are used for entering the human body through a small channel established on the surface of the patient. The middle part of the main shell 1 is used for connecting the driving mechanism. The driving mechanism can refer to a multi-axis surgical robot. The multi-axis surgical robot can be actively controlled through input instructions to drive the main shell 1 to move to a target position. The multi-axis surgical robot can also adopt a passive following form, that is, the multi-axis surgical robot only provides torque for the main shell 1 to overcome gravity and resistance. The operator drags the main shell 1 to move to the target position. The multi-axis surgical robot passively follows during the movement of the main shell 1, and fixes the main shell 1 at the current target position by locking the motors at each joint of the multi-axis surgical robot after the main shell 1 moves to the position.

[0067] The rotation shafts of the first finger sleeve 2 and the second finger sleeve 3 can be arranged side by side in the horizontal plane to ensure that after the operator holds the first end of the main shell 1, the operator's thumb can be inserted into the first finger sleeve 2, and the operator's index finger can be inserted into the second finger sleeve 3. Thus, the opening and pinching action between the operator's thumb and index finger can control the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction away from each other or in the direction close to each other.

[0068] The transmission wheel mechanism 4 can be integrated in the interior of the main shell 1. The transmission wheel mechanism 4 can include a plurality of transmission wheels combined in a predetermined manner. The plurality of transmission wheels can be driven by belt transmission. When the belt transmission is used, the transmission belt is sleeved on the corresponding transmission wheel. At this time, the plurality of transmission wheels can also play a guiding role of the pulley, which can guide the transmission belt to be arranged to the clamping jaw 6 at the second end of the main shell 1 according to a predetermined path. The traction assembly 5 includes a plurality of flexible transmission members such as steel wires which can be sleeved on the transmission wheels and rotate with the transmission wheels and provide traction during the rotation. The input end of the transmission wheel mechanism 4 can refer to a plurality of transmission wheels at the first end for connecting the traction assembly 5. The output end of the transmission wheel mechanism 4 can refer to a plurality of transmission wheels at the end. The plurality of transmission wheels at the output end can be directly connected with the two jaw bodies of the clamping jaw 6, or can be drivingly connected with the two jaw bodies of the clamping jaw 6 through the flexible transmission members, which are not limited here.

[0069] Based on the above setting, the operator can control the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction away from each other through the opening action between the thumb and the index finger, at this time, the first finger sleeve 2 and the second finger sleeve 3 can drive the corresponding transmission wheels in the transmission wheel mechanism 4 to rotate in the first clockwise direction through the traction assembly 5, so as to drive the two jaw bodies of the clamp jaw 6 to rotate in the direction away from each other through the transmission wheel rotating in the first clockwise direction, thereby realizing the opening action of the clamp jaw 6. It can be understood that the corresponding transmission wheels in the transmission wheel mechanism 4 rotate in the first clockwise direction, which can refer to all transmission wheels rotating in the clockwise direction or counterclockwise direction, or part of the transmission wheels rotating in the clockwise direction and the other part rotating in the counterclockwise direction, at this time, the rotation mode of each transmission wheel constitutes the first rotation mode of the transmission wheel mechanism 4.

[0070] Similarly, the operator can control the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction close to each other through the pinching action between the thumb and the index finger, at this time, the first finger sleeve 2 and the second finger sleeve 3 can drive the corresponding transmission wheels in the transmission wheel mechanism 4 to rotate in the second clockwise direction through the traction assembly 5, so as to drive the two jaw bodies of the clamp jaw 6 to rotate in the direction close to each other through the transmission wheel rotating in the second clockwise direction, thereby realizing the closing action of the clamp jaw 6. It can be understood that the second clockwise direction is opposite to the above-mentioned first clockwise direction; the transmission wheels rotating in the clockwise direction in the first rotation mode should rotate in the counterclockwise direction at this time; the transmission wheels rotating in the counterclockwise direction in the second rotation mode should rotate in the clockwise direction at this time; at this time, the rotation mode of each transmission wheel constitutes the second rotation mode of the transmission wheel mechanism 4.

[0071] It can be seen that the surgical instrument provided in the embodiment is provided with the first finger sleeve 2 and the second finger sleeve 3 which can rotate on the main shell 1, when the operator holds the main shell 1 and inserts the corresponding fingers into the first finger sleeve 2 and the second finger sleeve 3, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate relative to the main shell 1 through the opening and pinching action between the thumb and the index finger, so that the first finger sleeve 2 and the second finger sleeve 3 move away from each other or close to each other; based on the opening and closing action of the first finger sleeve 2 and the second finger sleeve 3, the transmission wheel mechanism 4 can be driven to rotate in the first rotation mode or the second rotation mode through the traction assembly 5, and then the clamp jaw 6 is opened or closed through the transmission wheel mechanism 4. Based on the above scheme, it can be ensured that the opening and pinching action of the fingers of the operator corresponds to the opening and closing action of the clamp jaw 6, which is more in line with the intuitive operation habit, thereby reducing the operation difficulty of the operator; in addition, the belt transmission mode between the traction assembly 5 and the transmission wheel mechanism 4 has stronger linear control ability than the traditional mode of driving the clamp jaw to open and close through the lever mechanism, which can ensure that the opening and closing action of the clamp jaw 6 corresponds to the opening and closing action of the fingers accurately, to a certain extent, avoiding the situation that the clamp jaw 6 is excessively opened or closed due to the lever action, thereby improving the control precision of the surgical instrument.

[0072] In an embodiment, referring to Figures 1 to 5 The transmission wheel mechanism 4 comprises a first wheel set 401 and a second wheel set 402, the first wheel set 401 and the second wheel set 402 are in transmission connection with the first finger sleeve 2 and the second finger sleeve 3 through the opening and closing traction 501; the clamping jaw 6 comprises a first jaw body 601 and a second jaw body 602, the first jaw body 601 is in transmission connection with the first wheel set 401 through the first output traction 502, and the second jaw body 602 is in transmission connection with the second wheel set 402 through the second output traction 503;

[0073] When the first finger sleeve 2 and the second finger sleeve 3 rotate in the direction away from each other, the first wheel set 401 is driven to rotate forward and the second wheel set 402 is driven to rotate reversely through the opening and closing traction 501, so that the first jaw body 601 is driven to rotate away from the second jaw body 602 through the first output traction 502, and the second jaw body 602 is driven to rotate away from the first jaw body 601 through the second output traction 503;

[0074] When the first finger sleeve 2 and the second finger sleeve 3 rotate in the direction close to each other, the first wheel set 401 is driven to rotate reversely and the second wheel set 402 is driven to rotate forward through the opening and closing traction 501, so that the first jaw body 601 is driven to rotate close to the second jaw body 602 through the first output traction 502, and the second jaw body 602 is driven to rotate close to the first jaw body 601 through the second output traction 503.

[0075] The first wheel set 401 and the second wheel set 402 can refer to two wheel sets in the transmission wheel mechanism 4 which are divided according to different rotation directions, and each of the first wheel set 401 and the second wheel set 402 comprises a plurality of transmission wheels combined in a preset manner, and the plurality of transmission wheels can be in transmission through belt transmission.

[0076] The forward rotation of the first wheel set 401 and the second wheel set 402 can refer to clockwise rotation or counterclockwise rotation, and the reverse rotation of the first wheel set 401 and the second wheel set 402 can also refer to clockwise rotation or counterclockwise rotation, and the rotation direction of the forward rotation is opposite to that of the reverse rotation. Specifically, when the plurality of transmission wheels in the first wheel set 401 rotate in the clockwise direction, the plurality of transmission wheels in the second wheel set 402 rotate in the counterclockwise direction; similarly, when the plurality of transmission wheels in the first wheel set 401 rotate in the counterclockwise direction, the plurality of transmission wheels in the second wheel set 402 rotate in the clockwise direction.

[0077] The opening and closing traction member 501 can include a plurality of flexible traction members, such as steel wires or the like, which can be sleeved on the rotating shafts of the first and second finger sleeves 2 and 3, the corresponding transmission wheels of the first and second wheel sets 401 and 402, and can rotate with the rotating shafts and transmission wheels and provide traction transmission during rotation. Similarly, the first and second output traction members 502 and 503 can also include a plurality of flexible traction members, such as steel wires or the like, which can be sleeved on the rotating shafts of the first and second claw bodies 601 and 602 and the corresponding transmission wheels of the first and second wheel sets 401 and 402, and can rotate with the rotating shafts and transmission wheels and provide traction transmission during rotation.

[0078] Based on the above arrangement, the rotation of the first claw body 601 in the clamping jaw 6 is controlled by the first wheel set 401, and the rotation of the second claw body 602 in the clamping jaw 6 is controlled by the second wheel set 402. When the first wheel set 401 rotates in the forward direction, it drives the first claw body 601 to rotate in the direction away from the second claw body 602 through the first output traction member 502, and when the first wheel set 401 rotates in the reverse direction, it drives the first claw body 601 to rotate in the direction close to the second claw body 602 through the first output traction member 502; when the second wheel set 402 rotates in the reverse direction, it drives the second claw body 602 to rotate in the direction away from the first claw body 601 through the second output traction member 503, and when the second wheel set 402 rotates in the forward direction, it drives the second claw body 602 to rotate in the direction close to the first claw body 601 through the second output traction member 503.

[0079] In actual application, the operator can control the first and second finger sleeves 2 and 3 to rotate in the direction away from each other through the opening action between the thumb and the index finger, at this time, the first and second finger sleeves 2 and 3 can drive the first wheel set 401 to rotate in the forward direction and the second wheel set 402 to rotate in the reverse direction through the opening and closing traction member 501, so that the first wheel set 401 drives the first claw body 601 to rotate in the direction away from the second claw body 602 through the first output traction member 502, and the second wheel set 402 drives the second claw body 602 to rotate in the direction away from the first claw body 601 through the second output traction member 503, so that the opening of the clamping jaw 6 can be realized; Similarly, the operator can control the first and second finger sleeves 2 and 3 to rotate in the direction close to each other through the pinching action between the thumb and the index finger, at this time, the first and second finger sleeves 2 and 3 can drive the first wheel set 401 to rotate in the reverse direction and the second wheel set 402 to rotate in the forward direction through the opening and closing traction member 501, so that the first wheel set 401 drives the first claw body 601 to rotate in the direction close to the second claw body 602 through the first output traction member 502, and the second wheel set 402 drives the second claw body 602 to rotate in the direction close to the first claw body 601 through the second output traction member 503, so that the closing of the clamping jaw 6 can be realized.

[0080] In an embodiment, with reference toFigure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 6 The main housing 1 comprises a connecting seat 101 and a handle 102, the connecting seat 101 is connected to the driving mechanism, the first wheel set 401 and the second wheel set 402 are rotatably connected to the connecting seat 101, the clamping jaw 6 is connected to the connecting seat 101 in an openable and closable manner, the handle 102 is rotatably connected to the connecting seat 101 about a vertical axis, and the handle 102 is drivingly connected to the first wheel set 401 and the second wheel set 402 through the horizontal swing traction member 504; the first finger sleeve 2 and the second finger sleeve 3 are rotatably connected to the handle 102;

[0081] When the handle 102 rotates to the left relative to the connecting seat 101, the first wheel set 401 is driven to rotate forward and the second wheel set 402 is driven to rotate forward through the horizontal swing traction member 504, so that the first wheel set 401 drives the first jaw body 601 to rotate away from the second jaw body 602 through the first output traction member 502, and the second wheel set 402 drives the second jaw body 602 to rotate towards the first jaw body 601 through the second output traction member 503;

[0082] When the handle 102 rotates to the right relative to the connecting seat 101, the first wheel set 401 is driven to rotate reversely and the second wheel set 402 is driven to rotate reversely through the horizontal swing traction member 504, so that the first wheel set 401 drives the first jaw body 601 to rotate towards the second jaw body 602 through the first output traction member 502, and the second wheel set 402 drives the second jaw body 602 to rotate away from the first jaw body 601 through the second output traction member 503.

[0083] In the embodiment, when the driving mechanism is locked, the connecting seat 101 is in a fixed state in space, and the handle 102 has a rotational degree of freedom about a vertical axis relative to the connecting seat 101. The handle 102 is provided in a hollow structure, the first wheel set 401 and the second wheel set 402 are located inside the handle 102, a guide wheel structure can be arranged inside the handle 102, and the guide wheel structure is drivingly connected to the first wheel set 401 and the second wheel set 402 through the horizontal swing traction member 504. The horizontal swing traction member 504 can comprise a plurality of flexible traction members, such as steel wires, which can be sleeved on the guide wheel structure of the handle 102, corresponding transmission wheels of the first wheel set 401 and corresponding transmission wheels of the second wheel set 402, and the flexible traction members can rotate with the guide wheel structure and the transmission wheels and provide traction transmission during rotation.

[0084] Based on the above setting, taking the first claw body 601 located on the left side and the second claw body 602 located on the right side as an example, during the operation, when the whole clamp jaw 6 needs to be deflected to the left, the operator can hold the handle 102 and rotate it to the left relative to the connecting seat 101. Since the first wheel set 401 and the second wheel set 402 on the connecting seat 101 do not translate, at this time, the guide wheel structure on the handle 102 can drive the first wheel set 401 and the second wheel set 402 to rotate in the same direction through the horizontal swing traction member 504, that is, drive the first wheel set 401 and the second wheel set 402 to rotate in the forward direction. As known from the previous embodiment, when the first wheel set 401 rotates in the forward direction, it can drive the first claw body 601 to rotate in the direction away from the second claw body 602 through the first output traction member 502, and when the second wheel set 402 rotates in the forward direction, it can drive the second claw body 602 to rotate in the direction close to the first claw body 601 through the second output traction member 503. In this way, the first claw body 601 and the second claw body 602 can be simultaneously rotated to the left, thereby realizing the overall left deflection of the clamp jaw 6.

[0085] Similarly, during the operation, when the whole clamp jaw 6 needs to be deflected to the right, the operator can hold the handle 102 and rotate it to the right relative to the connecting seat 101. Since the first wheel set 401 and the second wheel set 402 on the connecting seat 101 do not translate, at this time, the guide wheel structure on the handle 102 can drive the first wheel set 401 and the second wheel set 402 to rotate in the same direction through the horizontal swing traction member 504, that is, drive the first wheel set 401 and the second wheel set 402 to rotate in the reverse direction. As known from the previous embodiment, when the first wheel set 401 rotates in the reverse direction, it can drive the first claw body 601 to rotate in the direction close to the second claw body 602 through the first output traction member 502, and when the second wheel set 402 rotates in the reverse direction, it can drive the second claw body 602 to rotate in the direction away from the first claw body 601 through the second output traction member 503. In this way, the first claw body 601 and the second claw body 602 can be simultaneously rotated to the right, thereby realizing the overall right deflection of the clamp jaw 6.

[0086] It should be noted that during the rotation of the handle 102 to the left or to the right, the first finger sleeve 2 and the second finger sleeve 3 move synchronously with the handle 102. After the whole clamp jaw 6 is deflected to the desired position, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction away from each other, so as to drive the first claw body 601 and the second claw body 602 to rotate in the direction away from each other through the opening and closing traction member 501, the first output traction member 502 and the second output traction member 503 at the current deflection position, thereby realizing the opening action of the clamp jaw 6 at the current deflection position. Similarly, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction close to each other, so as to drive the first claw body 601 and the second claw body 602 to rotate in the direction close to each other through the opening and closing traction member 501, the first output traction member 502 and the second output traction member 503 at the current deflection position, thereby realizing the closing action of the clamp jaw 6 at the current deflection position.

[0087] Based on the embodiment, the opening and closing operation and the horizontal swing operation of the clamping jaw 6 can be simultaneously realized through the finger opening and closing action and the wrist left and right rotation action of the operator, so that the activity freedom of the clamping jaw 6 is increased, the driving flexibility of the clamping jaw 6 is improved, and the complex surgical scene can be better coped with.

[0088] In an embodiment, with reference to Figures 1 to 5 , the first wheel set 401 includes a first transmission wheel 4011 and a second transmission wheel 4012, and the second wheel set 402 includes a third transmission wheel 4021 and a fourth transmission wheel 4022; the first transmission wheel 4011 and the third transmission wheel 4021 are in transmission connection with the first finger sleeve 2, and the second transmission wheel 4012 and the fourth transmission wheel 4022 are in transmission connection with the second finger sleeve 3; the first jaw body 601 is in transmission connection with the fourth transmission wheel 4022 through the first output traction member 502, and the second jaw body 602 is in transmission connection with the second transmission wheel 4012 through the second output traction member 503.

[0089] When the first finger sleeve 2 rotates in a direction away from the second finger sleeve 3, the first transmission wheel 4011 is driven to rotate forward, and the third transmission wheel 4021 is driven to rotate reversely; the first transmission wheel 4011 drives the second transmission wheel 4012 to rotate reversely through the first transmission traction member 5041, and the third transmission wheel 4021 drives the fourth transmission wheel 4022 to rotate forward through the second transmission traction member 5042, so that the second finger sleeve 3 is driven to rotate in a direction away from the first finger sleeve 2 through the second transmission wheel 4012 and the fourth transmission wheel 4022, and the fourth transmission wheel 4022 drives the first jaw body 601 to rotate in a direction away from the second jaw body 602 through the first output traction member 502, and the second transmission wheel 4012 drives the second jaw body 602 to rotate in a direction away from the first jaw body 601 through the second output traction member 503.

[0090] When the first finger sleeve 2 rotates in a direction away from the second finger sleeve 3, the first transmission wheel 4011 is driven to rotate forward, and the third transmission wheel 4021 is driven to rotate reversely; the first transmission wheel 4011 drives the second transmission wheel 4012 to rotate reversely through the first transmission traction member 5041, and the third transmission wheel 4021 drives the fourth transmission wheel 4022 to rotate forward through the second transmission traction member 5042, so that the second finger sleeve 3 is driven to rotate in a direction away from the first finger sleeve 2 through the second transmission wheel 4012 and the fourth transmission wheel 4022, and the fourth transmission wheel 4022 drives the first jaw body 601 to rotate in a direction away from the second jaw body 602 through the first output traction member 502, and the second transmission wheel 4012 drives the second jaw body 602 to rotate in a direction away from the first jaw body 601 through the second output traction member 503.

[0091] The embodiment further limits the specific distribution of the transmission wheels contained in the first wheel set 401 and the second wheel set 402. As shown in Figure 2 and Figure 3 The second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are coaxially arranged from top to bottom. The first transmission wheel 4011 is connected to the upper end of the rotating shaft of the first finger sleeve 2 through the first set of open-close traction members 501. The second transmission wheel 4012 is connected to the upper end of the rotating shaft of the second finger sleeve 3 through the second set of open-close traction members 501. The third transmission wheel 4021 is connected to the lower end of the rotating shaft of the first finger sleeve 2 through the third set of open-close traction members 501. The fourth transmission wheel 4022 is connected to the lower end of the rotating shaft of the second finger sleeve 3 through the fourth set of open-close traction members 501.

[0092] The two ends of the first transmission traction member 5041 are sleeved on the first transmission wheel 4011 and the second transmission wheel 4012 respectively. The middle part of the first transmission traction member 5041 can be provided with a corresponding guide wheel structure to change the transmission direction, thereby ensuring that the rotating direction of the first transmission wheel 4011 and the rotating direction of the second transmission wheel 4012 are always opposite under the driving of the first transmission traction member 5041. Similarly, the two ends of the second transmission traction member 5042 are sleeved on the third transmission wheel 4021 and the fourth transmission wheel 4022 respectively. The middle part of the second transmission traction member 5042 can be provided with a corresponding guide wheel structure to change the transmission direction, thereby ensuring that the rotating direction of the third transmission wheel 4021 and the rotating direction of the fourth transmission wheel 4022 are always opposite under the driving of the second transmission traction member 5042. The first transmission traction member 5041 and the second transmission traction member 5042 can be flexible transmission members that can rotate with the transmission wheels and provide traction transmission effect during rotation, such as steel wires.

[0093] Based on the above setting, the operator can control the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction away from each other through the opening action between the thumb and the index finger, at this time the first finger sleeve 2 drives the first transmission wheel 4011 to rotate forward through the first group of opening and closing traction members 501, and the first finger sleeve 2 drives the third transmission wheel 4021 to rotate reversely through the third group of opening and closing traction members 501; the first transmission wheel 4011 rotating forward drives the second transmission wheel 4012 to rotate reversely through the first transmission traction member 5041, and the second transmission wheel 4012 rotating reversely can drive the second finger sleeve 3 to rotate in the direction away from the first finger sleeve 2 through the second group of opening and closing traction members 501; the third transmission wheel 4021 rotating reversely drives the fourth transmission wheel 4022 to rotate forward through the second transmission traction member 5042, and the fourth transmission wheel 4022 rotating forward can drive the second finger sleeve 3 to rotate in the direction away from the first finger sleeve 2 through the fourth group of opening and closing traction members 501; the fourth transmission wheel 4022 rotating forward can drive the first claw body 601 to rotate in the direction away from the second claw body 602 through the first output traction member 502, and the second transmission wheel 4012 rotating reversely can drive the second claw body 602 to rotate in the direction away from the first claw body 601 through the second output traction member 503. Through the above transmission process, the opening operation of the clamping jaw 6 can be realized.

[0094] Similarly, the operator can control the first finger sleeve 2 and the second finger sleeve 3 to rotate in the direction close to each other through the pinching action between the thumb and the index finger, at this time the first finger sleeve 2 drives the first transmission wheel 4011 to rotate reversely through the first group of opening and closing traction members 501, and the first finger sleeve 2 drives the third transmission wheel 4021 to rotate forward through the third group of opening and closing traction members 501; the first transmission wheel 4011 rotating reversely drives the second transmission wheel 4012 to rotate forward through the first transmission traction member 5041, and the second transmission wheel 4012 rotating forward can drive the second finger sleeve 3 to rotate in the direction close to the first finger sleeve 2 through the second group of opening and closing traction members 501; the third transmission wheel 4021 rotating forward drives the fourth transmission wheel 4022 to rotate reversely through the second transmission traction member 5042, and the fourth transmission wheel 4022 rotating reversely can drive the second finger sleeve 3 to rotate in the direction close to the first finger sleeve 2 through the fourth group of opening and closing traction members 501; the fourth transmission wheel 4022 rotating reversely can drive the first claw body 601 to rotate in the direction close to the second claw body 602 through the first output traction member 502, and the second transmission wheel 4012 rotating forward can drive the second claw body 602 to rotate in the direction close to the first claw body 601 through the second output traction member 503. Through the above transmission process, the closing operation of the clamping jaw 6 can be realized.

[0095] Based on the transmission structure provided in the embodiment, the coupling linkage relationship between the first finger sleeve 2 and the second finger sleeve 3 can be established under the condition that the normal opening and closing of the clamping jaw 6 is realized through the finger action of the operator, so that the first finger sleeve 2 and the second finger sleeve 3 can be opened or closed synchronously based on the same amplitude.

[0096] In an embodiment, referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 , the main housing 1 comprises a connecting base 101 and a handle 102, the connecting base 101 is connected to the driving mechanism, the first transmission wheel 4011, the second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are rotationally connected to the connecting base 101, the clamping jaw 6 is movably connected to the connecting base 101, the handle 102 is rotationally connected to the connecting base 101 around a vertical axis, the handle 102 is in transmission connection with the first transmission wheel 4011 and the second transmission wheel 4012 through the first transmission traction member 5041, and the handle 102 is in transmission connection with the third transmission wheel 4021 and the fourth transmission wheel 4022 through the second transmission traction member 5042;

[0097] When the handle 102 rotates to the left relative to the connecting base 101, the first transmission wheel 4011, the second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are driven to rotate in the forward direction by the first transmission traction member 5041 and the second transmission traction member 5042, so that the fourth transmission wheel 4022 drives the first jaw body 601 to rotate away from the second jaw body 602 through the first output traction member 502, and the second transmission wheel 4012 drives the second jaw body 602 to rotate towards the first jaw body 601 through the second output traction member 503;

[0098] When the handle 102 rotates to the right relative to the connecting base 101, the first transmission wheel 4011, the second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are driven to rotate in the reverse direction by the first transmission traction member 5041 and the second transmission traction member 5042, so that the fourth transmission wheel 4022 drives the first jaw body 601 to rotate towards the second jaw body 602 through the first output traction member 502, and the second transmission wheel 4012 drives the second jaw body 602 to rotate away from the first jaw body 601 through the second output traction member 503.

[0099] In the present embodiment, when the driving mechanism is locked, the connecting base 101 is in a fixed state in space, and the handle 102 has a rotational degree of freedom around the vertical axis relative to the connecting base 101. The handle 102 is provided in a hollow structure, and the first transmission wheel 4011, the second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are all located inside the handle 102 and coaxially arranged with the rotational axis of the handle 102. As shown in Figure 2 , two guide wheel structures can be provided inside the handle 102, the middle part of the first transmission traction member 5041 is fitted on the left guide wheel structure, and the middle part of the second transmission traction member 5042 is fitted on the right guide wheel structure.

[0100] Based on the above setting, the transmission direction of the first transmission traction member 5041 and the transmission direction of the second transmission traction member 5042 can be changed by the guide wheel structure of the handle 102, so as to ensure that the first transmission wheel 4011 can drive the second transmission wheel 4012 to rotate in the opposite direction by the first transmission traction member 5041 when rotating, and ensure that the third transmission wheel 4021 can drive the fourth transmission wheel 4022 to rotate in the opposite direction by the second transmission traction member 5042 when rotating.

[0101] Further, based on the above setting, when the overall left deflection of the clamping jaw 6 is needed during the operation, the operator can hold the handle 102 and rotate it left relative to the connecting seat 101, at this time, the left guide wheel structure of the handle 102 can drive the first transmission wheel 4011 and the second transmission wheel 4012 to rotate forward by the first transmission traction member 5041, and the right guide wheel structure of the handle 102 can drive the third transmission wheel 4021 and the fourth transmission wheel 4022 to rotate forward by the second transmission traction member 5042. As known from the previous embodiment, the fourth transmission wheel 4022 can drive the first jaw body 601 to rotate away from the second jaw body 602 by the first output traction member 502 when rotating forward, and the second transmission wheel 4012 can drive the second jaw body 602 to rotate close to the first jaw body 601 by the second output traction member 503 when rotating forward, so that the first jaw body 601 and the second jaw body 602 can rotate left at the same time, thereby realizing the overall left deflection of the clamping jaw 6.

[0102] Similarly, when the overall right deflection of the clamping jaw 6 is needed during the operation, the operator can hold the handle 102 and rotate it right relative to the connecting seat 101, at this time, the left guide wheel structure of the handle 102 can drive the first transmission wheel 4011 and the second transmission wheel 4012 to rotate reversely by the first transmission traction member 5041, and the right guide wheel structure of the handle 102 can drive the third transmission wheel 4021 and the fourth transmission wheel 4022 to rotate reversely by the second transmission traction member 5042. As known from the previous embodiment, the fourth transmission wheel 4022 can drive the first jaw body 601 to rotate close to the second jaw body 602 by the first output traction member 502 when rotating reversely, and the second transmission wheel 4012 can drive the second jaw body 602 to rotate away from the first jaw body 601 by the second output traction member 503 when rotating reversely, so that the first jaw body 601 and the second jaw body 602 can rotate right at the same time, thereby realizing the overall right deflection of the clamping jaw 6.

[0103] It should be noted that during the rotation of the handle 102 to the left or to the right, the first finger sleeve 2 and the second finger sleeve 3 move synchronously with the handle 102. After the overall deflection of the clamping jaw 6 is in place, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate in a direction away from each other, so as to drive the first jaw body 601 and the second jaw body 602 to rotate in a direction away from each other through the opening and closing traction member 501, the first output traction member 502 and the second output traction member 503, thereby realizing the opening action of the clamping jaw 6 at the current deflection position; similarly, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate in a direction close to each other, so as to drive the first jaw body 601 and the second jaw body 602 to rotate in a direction close to each other through the opening and closing traction member 501, the first output traction member 502 and the second output traction member 503, thereby realizing the closing action of the clamping jaw 6 at the current deflection position.

[0104] Based on the embodiment, the opening and closing operation and the horizontal deflection operation of the clamping jaw 6 can be realized simultaneously through the finger opening and closing action and the wrist left and right rotation action of the operator, so as to increase the activity freedom of the clamping jaw 6 and improve the driving flexibility of the clamping jaw 6, thereby being able to better cope with complex surgical scenes.

[0105] In an embodiment, referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 7 , the connecting seat 101 includes a fixed seat body 1011 and a transfer platform 1012, the fixed seat body 1011 is connected to the driving mechanism, the transfer platform 1012 is rotatably connected to the fixed seat body 1011 about a horizontal axis, the first wheel set 401 and the second wheel set 402 are rotatably connected to the transfer platform 1012, and the handle 102 is rotatably connected to the transfer platform 1012 about a vertical axis;

[0106] The surgical instrument further includes an adapter block 7 and a vertical swing traction member 505; the adapter block 7 is rotatably connected to the fixed seat body 1011 about a horizontal axis, and the clamping jaw 6 is connected to the adapter block 7 in an openable and closable manner; one end of the vertical swing traction member 505 is in transmission connection with the transfer platform 1012, and the other end of the vertical swing traction member 505 is in transmission connection with the adapter block 7;

[0107] When the transfer platform 1012 rotates upward relative to the fixed seat body 1011, the transfer platform 1012 drives the vertical swing traction member 505 to move forward, so as to drive the adapter block 7 to rotate upward relative to the fixed seat body 1011; when the transfer platform 1012 rotates downward relative to the fixed seat body 1011, the transfer platform 1012 drives the vertical swing traction member 505 to move reversely, so as to drive the adapter block 7 to rotate downward relative to the fixed seat body 1011.

[0108] In the embodiment, when the driving mechanism is locked, the fixed seat body 1011 is in a fixed state in space, the transfer table 1012 has a rotation freedom degree around a horizontal axis relative to the fixed seat body 1011, the handle 102 has a rotation freedom degree around a vertical axis relative to the transfer table 1012, the first transmission wheel 4011, the second transmission wheel 4012, the third transmission wheel 4021 and the fourth transmission wheel 4022 are all arranged on the transfer table 1012 and located inside the handle 102; the adapter block 7 has a rotation freedom degree around a horizontal axis relative to the fixed seat body 1011.

[0109] One end of the vertical swing traction member 505 is sleeved on a rotation shaft of the transfer table 1012 relative to the fixed seat body 1011, and the other end of the vertical swing traction member 505 is sleeved on a rotation shaft of the adapter block 7 relative to the fixed seat body 1011; the vertical swing traction member 505 can move with the rotation of the transfer table 1012 and provide traction transmission to the adapter block 7 in the moving process to drive the adapter block 7 to rotate upward or downward relative to the fixed seat body 1011; the vertical swing traction member 505 can be a flexible transmission member such as a steel wire.

[0110] Based on the above arrangement, during the operation, when it is needed to swing the whole clamping jaw 6 upward, the operator can hold the handle 102 and rotate it upward, so as to drive the transfer table 1012 to rotate upward relative to the fixed seat body 1011, at this time, the transfer table 1012 will drive the vertical swing traction member 505 to move forward, the forward moving vertical swing traction member 505 will drive the adapter block 7 to rotate upward relative to the fixed seat body 1011, so as to drive the whole clamping jaw 6 on the adapter block 7 to swing upward relative to the fixed seat body 1011.

[0111] Similarly, during the operation, when it is needed to swing the whole clamping jaw 6 downward, the operator can hold the handle 102 and rotate it downward, so as to drive the transfer table 1012 to rotate downward relative to the fixed seat body 1011, at this time, the transfer table 1012 will drive the vertical swing traction member 505 to move reversely, the reversely moving vertical swing traction member 505 will drive the adapter block 7 to rotate downward relative to the fixed seat body 1011, so as to drive the whole clamping jaw 6 on the adapter block 7 to swing downward relative to the fixed seat body 1011.

[0112] Based on the embodiment, the opening and closing operation, the horizontal swing operation and the upward and downward swing operation of the clamping jaw 6 can be simultaneously realized through the finger opening and closing action, the left and right rotation action of the wrist and the upward and downward rotation action of the wrist of the operator, so as to further increase the activity freedom degree of the clamping jaw 6 and further improve the driving flexibility of the clamping jaw 6, so as to better cope with complex operation scenes.

[0113] In an embodiment, with reference to Figures 1 to 4The handle 102 has a holding portion 1021 and an extension portion 1022, the holding portion 1021 extends in the vertical direction, the upper end of the holding portion 1021 is connected to the lower side of the extension portion 1022, and the holding portion 1021 is located at the rear side of the extension portion 1022, and the lower end of the holding portion 1021 is connected to the connecting base 101;

[0114] The first finger sleeve 2 has a first ring body 201 and a first connecting portion 202, the upper side of the first ring body 201 is connected to the front end of the first connecting portion 202, the first ring body 201 is used for horizontally inserting a finger, and the rear end of the first connecting portion 202 is rotatably connected to the front side of the extension portion 1022 around a vertical axis.

[0115] The second finger sleeve 3 has a second ring body 301 and a second connecting portion 302, the upper side of the second ring body 301 is connected to the front end of the second connecting portion 302, the second ring body 301 is used for horizontally inserting a finger, and the rear end of the second connecting portion 302 is rotatably connected to the front side of the extension portion 1022 around a vertical axis.

[0116] Illustratively, the first connecting portion 202 and the second connecting portion 302 both extend in the horizontal direction, the rotation axis of the first connecting portion 202 and the rotation axis of the second connecting portion 302 are arranged in the left-right direction on the horizontal plane, one end of the first connecting portion 202 is located inside the extension portion 1022 and rotates around a vertical axis, the other end of the first connecting portion 202 is located outside the extension portion 1022 and is connected to the upper side of the first ring body 201, one end of the second connecting portion 302 is located inside the extension portion 1022 and rotates around a vertical axis, and the other end of the second connecting portion 302 is located outside the extension portion 1022 and is connected to the upper side of the second ring body 301.

[0117] Based on the structure of the handle 102 in the embodiment, the operator can conveniently hold the holding portion 1021, the front side of the extension portion 1022 extends to the position of the fingers of the operator, the first ring body 201 of the first finger sleeve 2 and the second ring body 301 of the second finger sleeve 3 are both located at the front side of the extension portion 1022, so that the operator can conveniently insert the thumb into the first ring body 201 on the left side, and the operator can conveniently insert the index finger or the index finger into the second ring body 301 on the right side. Based on the above arrangement, while ensuring that the operator stably holds the handle 102, the operator can conveniently open and close the first finger sleeve 2 and the second finger sleeve 3, and the operator can also conveniently rotate the handle 102 left and right and up and down.

[0118] In an embodiment, referring to Figures 1 to 4 The surgical instrument further comprises an extension rod 8, one end of the extension rod 8 is connected to the connecting base 101, and the clamping jaw 6 is connected to the other end of the extension rod 8 in an openable and closable manner.

[0119] Specifically, in the case that the connecting seat 101 comprises a fixed seat body 1011 and a transfer platform 1012, and the surgical instrument comprises an adapter block 7, one end of an extension rod 8 can be connected with the fixed seat body 1011, and the adapter block 7 can be rotatably connected with the other end of the extension rod 8 around a horizontal axis. The extension rod 8 can be provided as a hollow flexible structure, and the inner cavity of the extension rod 8 is used for passing the first output traction member 502, the second output traction member 503 and the vertical swing traction member 505.

[0120] The extension rod 8 in the embodiment can pass through a small channel established on the surface of the patient, so that the clamping jaw 6 at the end of the extension rod 8 can be conveniently sent to the surgical field through the channel.

[0121] In an embodiment, referring to Figures 1 to 4 , the surgical instrument further comprises a plurality of tensioning wheels 9 connected to at least one of the first output traction member 502 and the second output traction member 503.

[0122] By providing the tensioning wheels 9, the tensioning force of the first output traction member 502 and the second output traction member 503 can be maintained, so that the first output traction member 502 and the second output traction member 503 can normally play a transmission role. Preferably, when the clamping jaw 6 is provided in a form that can swing up and down, the tensioning wheels 9 can also be connected to at least one of the vertical swing traction member 505, so as to maintain the tensioning force of the vertical swing traction member 505, thereby ensuring that the vertical swing traction member 505 can normally play a transmission role.

[0123] The embodiment of the present application also provides a laparoscopic surgery system, please refer to Figures 1 to 8 , the laparoscopic surgery system comprises a driving mechanism and the surgical instrument in any of the above embodiments, and the main shell 1 of the surgical instrument is connected to the driving mechanism.

[0124] In the embodiment, the driving mechanism can refer to a multi-axis surgical robot; the multi-axis surgical robot can be actively controlled through an input instruction to drive the surgical instrument to move to a target position; the multi-axis surgical robot can also adopt a passive following form, that is, the multi-axis surgical robot only provides a torque for the surgical instrument to overcome gravity and resistance, and the surgical instrument is dragged by the operator to move to a target position, the multi-axis surgical robot will passively follow during the movement of the surgical instrument, and fix the surgical instrument at the current target position after the surgical instrument moves to the position by locking the motors at each joint of the multi-axis surgical robot.

[0125] The specific structure of the surgical instrument can refer to the above-mentioned embodiments. Since the laparoscopic surgical system adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, that is, the first finger sleeve 2 and the second finger sleeve 3 that can rotate are arranged on the main shell 1, when the operator holds the main shell 1 and inserts the corresponding fingers into the first finger sleeve 2 and the second finger sleeve 3, the operator can drive the first finger sleeve 2 and the second finger sleeve 3 to rotate relative to the main shell 1 through the opening and pinching action between the thumb and the index finger, so that the first finger sleeve 2 and the second finger sleeve 3 move away from each other or move close to each other; based on the opening and closing action of the first finger sleeve 2 and the second finger sleeve 3, the transmission wheel mechanism 4 can be driven by the traction assembly 5 to rotate in the first rotation mode or the second rotation mode, and then the clamping jaw 6 is opened or closed by the transmission wheel mechanism 4. Based on the above-mentioned scheme, it can be ensured that the opening and pinching action of the fingers of the operator corresponds to the opening and closing action of the clamping jaw 6, so that it is more in line with the intuitive operation habit, thereby reducing the operation difficulty of the operator; in addition, compared with the traditional mode of driving the clamping jaw 6 to open and close through a lever mechanism, the belt transmission mode between the traction assembly 5 and the transmission wheel mechanism 4 has stronger linear control ability, which can ensure that the opening and closing action of the clamping jaw 6 corresponds to the opening and closing action of the fingers accurately, to a certain extent, avoids the situation that the clamping jaw 6 is excessively opened or excessively closed due to the lever action, thereby improving the control precision of the surgical instrument.

[0126] It should be noted that other contents of the surgical instrument and the laparoscopic surgical system disclosed by the present application can refer to the prior art, which will not be described here.

[0127] The above-mentioned is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by referring to the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A surgical instrument, characterized in that, The surgical instruments include: Main housing, used for connection to the drive mechanism; The first finger sleeve is rotatably connected to the first end of the main housing; The second finger sleeve is rotatably connected to the first end of the main housing; A transmission wheel mechanism, wherein the input end of the transmission wheel mechanism is connected to the rotating shaft of the first finger sleeve and the rotating shaft of the second finger sleeve via a traction assembly; The gripper is detachably connected to the second end of the main housing; the gripper is drively connected to the output end of the transmission wheel mechanism; When the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the traction component drives the transmission wheel mechanism to rotate in a first rotation mode, thereby causing the gripper to open; when the first finger sleeve and the second finger sleeve rotate in a direction close to each other, the traction component drives the transmission wheel mechanism to rotate in a second rotation mode, thereby causing the gripper to close.

2. The surgical instrument as described in claim 1, characterized in that, The transmission wheel mechanism includes a first wheel group and a second wheel group. The first wheel group and the second wheel group are connected to the first finger sleeve and the second finger sleeve through an opening and closing traction member. The gripper includes a first claw body and a second claw body. The first claw body is connected to the first wheel group through a first output traction member, and the second claw body is connected to the second wheel group through a second output traction member. When the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the opening and closing traction member drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the reverse direction, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member; When the first finger sleeve and the second finger sleeve rotate in a direction that brings them closer to each other, the opening and closing traction member drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the forward direction, so that the first wheel set drives the first claw body to rotate in a direction that brings it closer to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction that brings it closer to the first claw body through the second output traction member.

3. The surgical instrument as described in claim 2, characterized in that, The main housing includes a connecting seat and a handle. The connecting seat is connected to the drive mechanism. The first wheel set and the second wheel set are rotatably connected to the connecting seat. The gripper is detachably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is driven by the first wheel set and the second wheel set through a horizontal swing traction member. The first finger sleeve and the second finger sleeve are rotatably connected to the handle. When the handle rotates to the left relative to the connecting seat, it drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the forward direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction close to the first claw body through the second output traction member. When the handle rotates to the right relative to the connecting seat, it drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the opposite direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction close to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member.

4. The surgical instrument as described in claim 2, characterized in that, The first wheel set includes a first transmission wheel and a second transmission wheel, and the second wheel set includes a third transmission wheel and a fourth transmission wheel; the first transmission wheel and the third transmission wheel are connected to the first finger sleeve, the second transmission wheel and the fourth transmission wheel are connected to the second finger sleeve, the first claw body is connected to the fourth transmission wheel through the first output traction member, and the second claw body is connected to the second transmission wheel through the second output traction member; When the first finger sleeve rotates in a direction away from the second finger sleeve, it drives the first transmission wheel to rotate in the forward direction and the third transmission wheel to rotate in the reverse direction. The first transmission wheel drives the second transmission wheel to rotate in the reverse direction through the first transmission traction member. The third transmission wheel drives the fourth transmission wheel to rotate in the forward direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in a direction away from the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member. The second transmission wheel drives the second claw body to rotate in a direction away from the first claw body through the second output traction member. When the first finger sleeve rotates in the direction close to the second finger sleeve, it causes the first transmission wheel to rotate in the opposite direction and the third transmission wheel to rotate in the forward direction. The first transmission wheel drives the second transmission wheel to rotate in the forward direction through the first transmission traction member, and the third transmission wheel drives the fourth transmission wheel to rotate in the opposite direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in the direction close to the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in the direction close to the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate in the direction close to the first claw body through the second output traction member.

5. The surgical instrument as described in claim 4, characterized in that, The main housing includes a connecting seat and a handle. The connecting seat is connected to the drive mechanism. The first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel are rotatably connected to the connecting seat. The gripper is detachably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is connected to the first transmission wheel and the second transmission wheel via the first transmission traction member. The handle is also connected to the third transmission wheel and the fourth transmission wheel via the second transmission traction member. When the handle rotates to the left relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the forward direction through the first transmission traction member and the second transmission traction member, so that the fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction close to the first claw body through the second output traction member; When the handle rotates to the right relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the opposite direction through the first transmission traction member and the second transmission traction member. This causes the fourth transmission wheel to drive the first claw body to rotate in a direction close to the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction away from the first claw body through the second output traction member.

6. The surgical instrument as described in claim 3 or 5, characterized in that, The connecting seat includes a fixed seat and a transfer platform. The fixed seat is connected to the drive mechanism, and the transfer platform is rotatably connected to the fixed seat about a horizontal axis. The first wheel set and the second wheel set are rotatably connected to the transfer platform, and the handle is rotatably connected to the transfer platform about a vertical axis. The surgical instrument further includes an adapter block and a vertical swing traction component; the adapter block is rotatably connected to the fixed base about a horizontal axis, and the gripper is openably connected to the adapter block; one end of the vertical swing traction component is drivenly connected to the central turntable, and the other end of the vertical swing traction component is drivenly connected to the adapter block. When the transfer platform rotates upward relative to the fixed base, it drives the vertical swing traction member to move forward, thereby driving the adapter block to rotate upward relative to the fixed base; when the transfer platform rotates downward relative to the fixed base, it drives the vertical swing traction member to move in the opposite direction, thereby driving the adapter block to rotate downward relative to the fixed base.

7. The surgical instrument as described in claim 3 or 5, characterized in that, The handle has a grip portion and an extension portion. The grip portion extends vertically, and the upper end of the grip portion is connected to the lower part of the extension portion. The grip portion is located on the rear side of the extension portion, and the lower end of the grip portion is connected to the connecting seat. The first finger sleeve has a first ring body and a first connecting part. The upper side of the first ring body is connected to the front end of the first connecting part. The first ring body is used for the finger to be inserted horizontally. The rear end of the first connecting part is rotatably connected to the front side of the extension about a vertical axis. The second finger sleeve has a second ring body and a second connecting part. The upper side of the second ring body is connected to the front end of the second connecting part. The second ring body is used for the finger to be inserted horizontally. The rear end of the second connecting part is rotatably connected to the front side of the extension about a vertical axis.

8. The surgical instrument as described in claim 3 or 5, characterized in that, The surgical instrument also includes an extension rod, one end of which is connected to the connecting seat, and the gripper is detachably connected to the other end of the extension rod.

9. The surgical instrument as described in claim 2, characterized in that, The surgical instrument also includes a plurality of tensioning rollers, which are connected to at least one of the first output traction member and the second output traction member.

10. A laparoscopic surgical system, characterized in that, The laparoscopic surgical system includes a drive mechanism and a surgical instrument as described in any one of claims 1 to 9, wherein the main housing of the surgical instrument is connected to the drive mechanism.

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