Combined joint and surgical instrument applying same

Abstract

The invention discloses a combined joint and a surgical instrument applying the same. The combined joint comprises a first joint, a second joint and a connecting rod, the first joint comprises a first joint seat, a first rotor, a first lock cylinder and a first lock bolt. The second joint comprises a second joint seat, a second rotor, a second lock cylinder and a second lock bolt. The first rotor is mounted in the first joint seat and can rotate, and the first lock cylinder and the first lock bolt can lock the first rotor; the second rotor is installed in the second joint seat and can rotate, and the second lock cylinder and the second lock bolt can lock the second rotor. Locking and unlocking of the first joint and the second joint are switched independently and are not associated with each other. And the connecting rod is connected with the first rotor and the second joint seat to form a combined joint.

Description

TECHNICAL FIELD

[0001] The present application relates to surgical instruments, in particular to a minimally invasive surgical instrument. BACKGROUND

[0002] Since the disclosure of the ring retractor in US1839726 in 1930, retraction devices have been widely used in open surgery. More combined retractors are disclosed in US4617916, US5899627, US5897087, US6033363, US8617064, etc. So far, the technologies disclosed in these patents are still widely used in modern open surgery.

[0003] In 1987, Mouret completed the world's first laparoscopic cholecystectomy, opening the era of minimally invasive surgery. So far, the method of laparoscopic surgery using pneumoperitoneum has been mature. In recent years, laparoscopic surgery has been introduced into areas where pneumoperitoneum cannot be used or is not used, such as: head and neck maxillofacial surgery, ear-nose-throat surgery, thyroid surgery, breast tumor surgery, kidney surgery, gasless abdominal wall suspension laparoscopy, gasless single-incision laparoscopy, and subcutaneous metastasis incision laparoscopy. So far, there is a lack of corresponding cavity building instruments in these fields.

[0004] Chinese invention applications 202110426540.6, 202110499018.0, 202211342105.6, 202410019970.X, 202411577984.X, 202411646241.3, 202510785532.9, etc. disclose various suspension mechanisms (devices) for gasless laparoscopy. However, these devices follow the similar retraction (pulling) idea of open surgery retractors. When applied to gasless suspension laparoscopy, the main defects include: insufficient pulling force in the direction of force on the vertically lying patient; unable to achieve arbitrary angle pulling in local areas; scattered instrument (device) structure, complex cleaning, sterilization and reinstallation process, resulting in a large amount of time spent during use and maintenance.

[0005] Those skilled in the art should easily think that using a multi-degree-of-freedom electric mechanical arm or robot arm can solve the above problems. However, so far, it is still necessary to add an additional adapter mechanism or end mechanism to the electric mechanical arm or robot arm to solve the problem, thereby complicating the simple problem, possibly wasting huge costs, and still difficult to meet the flexible and variable needs in surgery.

[0006] So far, there is no relevant technology disclosure or clinical application of the heavy load, multi-degree of freedom, overall sterilizable endoscope suspension device or support or retractor. SUMMARY

[0007] Therefore, in order to solve the problems of the prior art, various solutions are proposed.

[0008] In one aspect of the present application, a combination joint is provided, comprising a first joint, a second joint and a connecting rod. The first joint comprises a first joint base, a first rotor, a first lock core and a first lock bolt; the first joint base comprises a first joint chassis and a first rotation shaft hole, and further comprises a first lock chamber and a first side protrusion; the first lock chamber comprises a first lock cavity defined by a first lock side wall, and a first lock through hole penetrating through the first lock side wall and communicating with the first lock cavity; the first rotor comprises a first tooth disc and a first rotation shaft, the outer periphery of the first tooth disc comprises a plurality of first sharp teeth, and the first rotation shaft comprises a first upper end rotation shaft and a first lower end rotation shaft; the first lock core comprises a first lock block and a first lock tooth; the first rotor is installed in the first joint base, wherein the first lower end rotation shaft passes through the first rotation shaft hole and is fixed with the first joint base, and the first lower end rotation shaft can rotate relative to the first rotation shaft hole; the first lock core is installed in the first lock cavity and can move radially along the first rotation shaft hole; the first lock bolt passes through the first lock through hole and contacts the tail end of the first lock block. The second joint comprises a second joint base, a second rotor, a second lock core and a second lock bolt; the second joint base comprises a second joint chassis and a second rotation shaft hole, and further comprises a second lock chamber and a second side protrusion; the second lock chamber comprises a second lock cavity defined by a second lock side wall, and a second lock through hole penetrating through the second lock side wall and communicating with the second lock cavity; the second rotor comprises a second tooth disc and a second rotation shaft, the outer periphery of the second tooth disc comprises a plurality of second sharp teeth, and the second rotation shaft comprises a second upper end rotation shaft and a second lower end rotation shaft; the second lock core comprises a second lock block and a second lock tooth; the second rotor is installed in the second joint base, wherein the second lower end rotation shaft passes through the second rotation shaft hole and is fixed with the second joint base, and the second lower end rotation shaft can rotate relative to the second rotation shaft hole; the second lock core is installed in the second lock cavity and can move radially along the second rotation shaft hole; the second lock bolt passes through the second lock through hole and contacts the tail end of the second lock block. The connecting rod comprises a connecting rod head, a connecting rod tail and a connecting rod rod extending therebetween, the connecting rod head is fixed with the first rotation shaft, and the connecting rod tail is fixed with the second side protrusion.

[0009] In one aspect, the combination joint, when the first lock pin is locked, the first lock teeth of the first lock core engage with the first tines of the first toothed disc, preventing the first rotor from rotating relative to the first rotor shaft hole, and the first joint is in a locked state; when the first lock pin is released, the first rotor can rotate relative to the first rotor shaft hole; and the first joint is in an unlocked state. When the second lock pin is locked, the second lock teeth of the second lock core engage with the second tines of the second toothed disc, preventing the second rotor from rotating relative to the second rotor shaft hole, and the second joint is in a locked state; when the second lock pin is released, the second rotor can rotate relative to the second rotor shaft hole, and the second joint is in an unlocked state. The locked state and the unlocked state of the first joint and the second joint are independently switched and are not related to each other.

[0010] In another aspect, the combination joint, the first lock pin includes a first lock handle and a first lock pin rod connected thereto, the outer surface of the first lock pin rod includes a first external thread, and the first lock through hole includes a first internal thread. The first external thread and the first internal thread are matched, the end surface of the lock pin rod is in contact with the tail end surface of the first lock block through the first lock through hole. Rotating the first lock handle makes the first lock pin rod push the first lock core to move towards the center of the first rotor shaft hole, so that the first lock teeth are clamped between any two first tines, and the first joint changes to a locked state; rotating the first lock handle makes the first lock pin rod move away from the center of the first rotor shaft hole, and the first joint changes to an unlocked state.

[0011] In another aspect, the combination joint, the tail of the first lock block is provided with a first T-shaped slot; the first lock pin includes a first lock handle and a first lock pin rod connected thereto, the outer surface of the first lock pin rod includes a first external thread, and the single end of the first lock pin rod includes a first T-shaped head defined by an annular groove; the first lock through hole includes a first internal thread. The first external thread and the first internal thread are matched, the first T-shaped head is buckled into the first T-shaped slot, and rotating the first lock handle makes the first lock pin rod push the first lock core to move towards the center of the first rotor shaft hole, so that the first lock teeth are clamped between any two first tines, and the first joint changes to a locked state; rotating the first lock handle makes the first lock pin rod drive the first lock core to move away from the center of the first rotor shaft hole, and the first joint changes to an unlocked state.

[0012] In another aspect of the invention, a surgical instrument is provided, comprising any of the aforementioned combined joints, and further comprising a first beam, a second beam, and a third beam. The first beam comprises a first beam head end, a first beam tail end, and an arcuate first beam body extending therebetween; the second beam comprises a second beam head end, a second beam tail end, and an arcuate second beam body extending therebetween; the third beam comprises a third beam head end, a third beam tail end, and a third beam body extending therebetween. The first beam head end is fixed to a first side protrusion of the first joint of the combined joint; the second beam head end is fixed to a second pivot of the second joint of the combined joint; the third beam head end is fixed to a first rotor of the combined joint, or to a connecting rod of the combined joint, or to a second joint seat of the combined joint.

[0013] In another embodiment, a surgical instrument is proposed, comprising any of the aforementioned combined joints, wherein the axis of the first pivot of the combined joint forms an angle A1 = 90 ± 5° with the axis of its connecting rod. The surgical instrument further comprises a first rod and a second rod. The first rod includes a first rod head, a first rod tail, and a first rod body extending therebetween; the second rod includes a second rod head, a second rod tail, and a second rod body extending therebetween. The first rod head is fixed to a first side protrusion of the first joint of the combined joint, and the axis of the first rod is perpendicular to the axis of the first pivot. The second rod head is fixed to a second pivot of the second joint of the combined joint, wherein the axis of the second rod is perpendicular to the axis of the second pivot. In summary: the first rod head is fixed to the first side protrusion of the first joint of the combined joint, and the first rod, the first joint, and the connecting rod constitute a double parallel joint; the second rod head is fixed to the second pivot of the second joint of the combined joint, and the second rod, the second joint, and the connecting rod constitute a double parallel joint.

[0014] In another embodiment, a surgical instrument is proposed, comprising any of the aforementioned combined joints, wherein the axis of the first pivot of the combined joint forms an angle A2 = 0 ± 5° with the axis of its connecting rod. The surgical instrument further comprises a first rod and a second rod, the first rod comprising a first rod head end, a first rod tail end, and a first rod body extending therebetween; the second rod comprising a second rod head end, a second rod tail end, and a second rod body extending therebetween. The first rod head end is fixed to a first side protrusion of the first joint of the combined joint, the axis of the first rod forming an angle A1 = 90 ± 5° with the axis of the first pivot; the second rod head end is fixed to a second pivot of the second joint of the combined joint, wherein the axis of the second rod forming an angle A2 = 0 ± 5° with the axis of the second pivot. In summary: the first rod head end is fixed to the first side protrusion of the first joint of the combined joint, the first rod, the first joint, and the connecting rod forming a series-parallel joint; the second rod head end is fixed to the second pivot of the second joint of the combined joint, the second rod, the second joint, and the connecting rod forming a series-parallel joint.

[0015] In another embodiment, the surgical instrument further includes a third joint and a third rod. The third joint includes a first joint seat, a first rotor, a first locking cylinder, and a first locking bolt. The structure and composition of the third joint are identical to those of the first joint. The third rod includes a third rod head end, a third rod tail end, and a third rod body extending therefrom. The first rod tail end is fixed to the first rotor of the third joint, wherein the axis of the first rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint. The third rod head end is fixed to the side protrusion of the first joint seat of the third joint, wherein the axis of the third rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint. In yet another embodiment, the first rod tail end is fixed to the side protrusion of the first fixing seat of the third joint, wherein the axis of the first rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint; the third rod head end is fixed to the first rotor of the third joint, wherein the axis of the third rod forms an angle A1 = 90 ± 5° with the axis of the first rotor. In short: the first link, the third joint, and the third link form a double parallel joint.

[0016] In another embodiment, a surgical instrument is proposed, comprising any of the aforementioned combined joints, wherein the axis of the first pivot of the combined joint forms an angle A2 = 0 ± 5° with the axis of its connecting rod. The surgical instrument further comprises a first rod and a second rod, the first rod comprising a first rod head end, a first rod tail end, and a first rod body extending therebetween; the second rod comprising a second rod head end, a second rod tail end, and a second rod body extending therebetween. The first rod head end is fixed to a first side protrusion of the first joint of the combined joint, the axis of the first rod forming an angle A2 = 0 ± 5° with the axis of the first pivot; the second rod head end is fixed to a second pivot of the second joint of the combined joint, wherein the axis of the second rod forming an angle A1 = 90 ± 5° with the axis of the second pivot. In summary: the first rod head end is fixed to the first side protrusion of the first joint of the combined joint, the first rod, the first joint, and the connecting rod forming a double-tandem joint; the second rod head end is fixed to the second pivot of the second joint of the combined joint, the second rod, the second joint, and the connecting rod forming a double-parallel joint.

[0017] In another embodiment, the surgical instrument further includes a third joint and a third rod. The third joint includes a first joint seat, a first rotor, a first locking cylinder, and a first locking bolt. The structure and composition of the third joint are identical to those of the first joint. The third rod includes a third rod head end, a third rod tail end, and a third rod body extending therefrom. The first rod tail end is fixed to the first rotor of the third joint, wherein the axis of the first rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint. The third rod head end is fixed to the side protrusion of the first joint seat of the third joint, wherein the axis of the third rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint. In yet another embodiment, the first rod tail end is fixed to the side protrusion of the first fixing seat of the third joint, wherein the axis of the first rod forms an angle A1 = 90 ± 5° with the axis of the first rotor of the third joint. The third rod head end is fixed to the first rotor of the third joint, wherein the axis of the third rod forms an angle A1 = 90 ± 5° with the axis of the first rotor. In short: the first link, the third joint, and the third link form a double parallel joint. Attached Figure Description

[0018] To gain a fuller understanding of the essence of the present invention, a detailed description will be provided below in conjunction with the accompanying drawings, wherein: Figure 1 This is a three-dimensional schematic diagram of joint 1; Figure 2 This is an exploded diagram of joint 1; Figure 3 This is a front projection view of the joint seat 10; Figure 4 yes Figure 3 Sectional view 4-4; Figure 5 This is a frontal projection view of joint 1 in the locked state; Figure 6 yes Figure 5 Sectional view 6-6; Figure 7 This is a frontal projection view of joint 1 in its unlocked state; Figure 8 yes Figure 7 Sectional view 8-8; Figure 9 This is a three-dimensional schematic diagram of joint 1a; Figure 10 This is an exploded schematic diagram of joint 1a; Figure 11 This is a 3D schematic diagram of lock cylinder 30a; Figure 12 This is a front projection view of joint 1a in the locked state; Figure 13 yes Figure 12 Sectional view 13-13; Figure 14 This is a frontal projection view of joint 1a in the unlocked state; Figure 15 yes Figure 14 Enlarged sectional view 15-15; Figure 16 This is a three-dimensional schematic diagram of the combined joint 6; Figure 17 This is a frontal projection view of joint 6; Figure 18 This is a three-dimensional schematic diagram of surgical instrument 7; Figure 19 This is a frontal projection view of surgical instrument 7; Figure 20 yes Figure 19 Side projection view of the surgical instrument 7; Figure 21 This is a modified diagram of surgical instrument 7 (relative to...). Figure 18 (The first beam rotates approximately 90°). Figure 22 This is a modified diagram of surgical instrument 7 (relative to...). Figure 21 (The second beam rotates and opens). Figure 23 This is a modified diagram of surgical instrument 7 (relative to...). Figure 21 (The second beam rotates and closes). Figure 24 This is a deformed diagram of surgical instrument 7 (the first beam and the second beam are folded together). Figure 25 This is a three-dimensional schematic diagram of surgical instrument 7a; Figure 26 This is a three-dimensional schematic diagram of surgical instrument 7a (including bed buckle assembly 75); Figure 27 This is a front projection view of the bed latch assembly 75; Figure 28 yes Figure 27 Side projection view of the bed clip assembly 75 shown; Figure 29 This is a three-dimensional schematic diagram of the combined joint 6a; Figure 30 This is a frontal projection view of the combined joint 6a; Figure 31 This is a three-dimensional schematic diagram of surgical instrument 7b; Figure 32 This is a schematic diagram of the folding and deformation of surgical instrument 7b; Figure 33 This is a three-dimensional schematic diagram of surgical instrument 7c; Figure 34 This is a side projection diagram of surgical instrument 7c; Figure 35 This is a 7D 3D schematic diagram of surgical instruments; Figure 36 This is a three-dimensional schematic diagram of surgical instrument 7e; In all views, the same label indicates the same part or component. Detailed Implementation

[0019] Embodiments of the invention are disclosed herein; however, it should be understood that the disclosed embodiments are merely examples of the invention, which can be implemented in various ways. Therefore, the disclosure herein is not to be construed as limiting, but rather serves as the basis for the claims and for teaching those skilled in the art how to use the invention.

[0020] Figures 1-2 A joint 1 is depicted comprising a joint seat 10, a rotor 20, a lock cylinder 30, a bolt 40, and a fastener 50.

[0021] Figure 2 , Figure 3 and Figure 4The structure and composition of the joint seat 10 are depicted. The joint seat 10 includes a joint base 11 and a locking chamber 12 and a side protrusion 13 disposed on its edge. A reinforcing wall 14 extends outward along the outer edge of the base 11 and connects to the locking chamber and the side protrusion. The base 11 includes a pivot hole 111 with a diameter of D0. The locking chamber 12 includes a locking cavity 125 defined by an upper sidewall 121, a lower sidewall 122, an outer sidewall 123, and a bottom sidewall 124. A side groove 126 penetrates the upper sidewall 121, communicates with the locking cavity 125, and removes a portion of the material from the outer sidewall 123 to form a top cover plate 127. A locking through hole 129 penetrates the outer sidewall 123 and communicates with the locking cavity 125; the locking through hole 129 also includes an internal thread 128. Similarly, the side groove 126 can penetrate the lower side wall 122 and communicate with the locking cavity 125; or the side groove 126 can penetrate both the upper side wall 121 and the lower side wall 122 and communicate with the locking cavity 125.

[0022] like Figure 1 The rotor 20 includes a toothed disc 21 and a rotating shaft 22. The outer periphery of the toothed disc 21 has a plurality of generally evenly distributed sharp teeth 211. In this example, it has 36 sharp teeth 211, but more or fewer sharp teeth are also optional. The rotating shaft 22 includes an upper rotating shaft 221 and a lower rotating shaft 222. The lock cylinder 30 includes a lock block 31, the head of which is provided with lock teeth 32. The bolt 40 includes a lock handle 41 and a bolt rod 42 connected thereto, the outer surface of which is provided with external threads 421.

[0023] Figures 5-6 The assembly relationship of the joint 1 is described. The lock cylinder 30 is installed in the lock cavity 125 of the lock cylinder 12 and can move radially along the pivot hole 111; the bolt 40's bolt bar 42 passes through the lock through hole 129, the external thread 421 matches the internal thread 128, and the end face 422 of the bolt bar can contact the tail end face 311 of the lock block. The rotor 20 is assembled in the joint seat 10. After the lower end pivot 222 passes through the pivot hole 111, the lower end pivot 222 is riveted to the joint seat 10 with the fastener 50, forming a rotating joint in which the lower end pivot 222 can rotate relative to the pivot hole 111.

[0024] The joint 1 has two states: locked and unlocked.

[0025] Figures 5-6The joint 1 in the locked state is described as follows: When the bolt 40 is locked, the external thread 421 matches the internal thread 128. Rotating the lock handle 41 causes the bolt bar 42 to move toward the center of the pivot hole 111. The end face 422 of the bolt bar contacts the tail end face 311 of the lock block and pushes the lock cylinder 30 toward the center of the pivot hole 111, causing the locking teeth 32 to engage between any two sharp teeth 211. At this time, when the gear disc 21 is subjected to torque, the sharp teeth 211 compress the locking teeth 32, forming a radial component force that forces the lock cylinder 30 away from the center of the pivot hole. This causes the tail end face 311 of the lock block to compress the locking end face 422, thereby causing the external thread 421 and the internal thread 128 to self-lock, preventing the rotor 20 from rotating relative to the joint seat 10.

[0026] Figures 7-8 The joint 1 in the unlocked state is described as follows: When the bolt 40 is released, the external thread 421 matches the internal thread 128, and rotating the lock handle 41 causes the bolt bar 42 to move away from the pivot hole 111, disengaging the end face 422 of the bolt bar from the tail end face 311 of the lock block. In this state, when the gear disc 21 is subjected to torque, the pointed teeth 211 press against the lock teeth 32, forming a radial force that forces the lock cylinder 30 away from the center of the pivot hole, thereby causing the lock cylinder 30 to move away from the pivot hole 111, and the rotor 20 can rotate relative to the joint seat 10.

[0027] like Figure 2 , Figure 3 and Figure 6 In one embodiment, the length B1 of the locking block 31 (i.e., the shortest distance from the root of the locking tooth 32 to the tail end face 311 of the locking block) and the length B2 of the side groove 126 (measured radially along the pivot hole 111) are defined as follows: B1 > B2. Figure 6 As shown, the length B1 of the locking block 31 is reasonably selected so that the top cover plate 127 still covers the tail end face 311 of the locking block when it is locked. The above-mentioned structural and dimensional design simplifies the structure of the joint seat 10 and reduces its manufacturing difficulty; it also prevents the lock cylinder 30 from falling off during the switching between the locked and unlocked states; the side groove 126 is connected to the lock cavity 125, which facilitates cleaning of the lock cavity 12 and the lock cylinder 30; this structure allows for simple installation by first installing the lock cylinder 30 and then the rotor 20. When thorough cleaning is required, the bolt 40 can be removed to form a "three-way" flush for the side groove, lock cavity, and lock through hole. When complete disassembly is required, the fixing piece 50 is removed to separate the lower rotating shaft 222 from the joint seat 10, allowing the joint seat, rotor, and lock cylinder to be separated one by one.

[0028] Figures 9-13 The structure and composition of another joint 1a are described. The joint 1a includes a joint seat 10a, a rotor 20a, a lock cylinder 30a, a bolt 40a, a spring washer 51a, a flat washer 52a, and a rivet 53a.

[0029] likeFigure 10 , Figure 12 and Figure 13 The joint seat 10a includes a joint base 11a and a locking chamber 12a and a side protrusion 13a disposed on its edge. A reinforcing wall 14a extends outward along the outer edge of the base 11a and connects to the locking chamber and the side protrusion. The base 11a includes a pivot hole 111a. The locking chamber 12a includes a locking cavity 125a defined by an upper sidewall 121a, a lower sidewall 122a, an outer sidewall 123a, and a bottom sidewall 124a. A side notch 126a cuts out and penetrates a portion of the material of the upper sidewall 121a and the lower sidewall 122a and communicates with the locking cavity 125a, defining a top cover plate 127a. Figure 13 The locking through hole 129a penetrates the outer side wall 123a and communicates with the lock cavity 125a; the locking through hole 129a also includes an internal thread 128a.

[0030] like Figure 10 , Figure 12 and Figure 13 The rotor 20a includes a gear disk 21a and a shaft 22a. The outer periphery of the gear disk contains multiple evenly distributed sharp teeth 211a, and the center of the gear disk contains a through-hole 213a. The through-hole 213a is configured as a non-circular structure to facilitate torque transmission. In this example, it contains 72 sharp teeth 211a, but more or fewer sharp teeth are also optional. The shaft 22a includes an upper shaft 221a, a lower shaft 222a, and an intermediate shaft 223a connecting them. The lower shaft 222a is configured as a cylinder with a diameter D1. The shape and size of the intermediate shaft 223a match the through-hole 213a of the gear disk, and it is configured as a non-circular cylinder with a maximum circumscribed circle diameter D2, where D2 > D1. The end of the lower shaft 222a includes a transverse hole 224a.

[0031] like Figure 10 and Figure 11 The lock cylinder 30a includes a lock block 31a, the head of which has multiple locking teeth 32a. The tail of the lock block has a T-shaped groove 312a (or dovetail groove 312a) that cuts off the tail end face 311a of the lock block. Figure 10 The bolt 40a includes a bolt handle 41a and a bolt bar 42a connected thereto. The end of the bolt bar 42a includes a T-shaped head 422a (or dovetail head 422a) defined by an annular groove 421a. The shape and size of the T-shaped head 422a match the T-shaped groove 312a. The bolt bar 42a has external threads 423a on its outer surface.

[0032] Figure 9 , Figure 12 and Figure 13The assembly relationship of the joint 1a is described. First, the bolt 40a is inserted into the locking through hole 129a of the joint seat 10a, and the lock handle 41a is rotated until the T-shaped head 422a is completely exposed outside the top cover plate 127a; then the lock cylinder 30a is inserted into the joint seat 10a, wherein the T-shaped groove 312a is fitted onto the T-shaped head 422a; the lock handle 41a is rotated in the opposite direction to move the lock cylinder 30a away from the pivot hole 111a to a suitable position. The intermediate pivot 223a is matched with the gear plate through hole 213a, so that the gear plate 21a and the pivot 22a are connected to form a rotor 20a for transmitting torque, then the lower pivot 222a is inserted into the pivot hole 111a, then the spring washer 51a and the flat washer 52a are fitted onto the lower pivot 222a exposed outside the joint seat 10a, and finally the rivet 53a is inserted into the transverse hole 224a to fix them together.

[0033] The joint 1a has a similar function and implementation mechanism to the joint 1, and also includes two states: locked and unlocked. Rotating the lock handle 41a moves the bolt bar 42a toward the center of the pivot hole 111a, thereby pushing the locking teeth 32a of the lock cylinder 30a to engage between the pointed teeth 211a to form a lock; rotating the lock handle 41a moves the bolt bar 42a away from the center of the pivot hole 111a, thereby causing the locking teeth 32a of the lock cylinder 30a to disengage from the pointed teeth 211a and unlock.

[0034] Compared to joint 1, joint 1a simplifies the structure of the joint seat and reduces its manufacturing difficulty; it also prevents the lock cylinder 30 from falling off during the switching between locked and unlocked states; it facilitates cleaning of the lock cavity and lock cylinder; and it facilitates the installation and maintenance of the joint. Furthermore, the lock cylinder 30a includes multiple locking teeth 32a, allowing for a greater number of sharp teeth to be set on the outer periphery of a smaller-sized gear disc, achieving more precise rotation angle locking. For example, 180 sharp teeth can be set on the outer periphery of a 20mm diameter gear disc, with a single tooth height ≤0.3mm and a single tooth thickness ≤0.35mm; using the threaded linkage locking of the bolt 40a and the lock cylinder 30a, and the multi-tooth meshing structure, a smaller-sized joint can achieve more precise locking with more indexing intervals and transmit greater torque. Those skilled in the art will readily realize that the features disclosed in joint 1 and joint 1a are interchangeable combinations that can form new joints with similar beneficial effects, without departing from the spirit of the invention.

[0035] Figure 16 and Figure 17A composite joint 6 is depicted, comprising a first joint 61, a second joint 62, and a connecting rod 63. The first joint 61 includes a first joint seat 10b, a first rotor 20b, a first lock cylinder 30b, a first bolt 40b, and a first fixing member 50b. The second joint 62 includes a second joint seat 10c, a second rotor 20c, a second lock cylinder 30c, a second bolt 40c, and a second fixing member 50c. In this example, the first and second joint seats are equivalent to joint seat 10; similarly, the first and second rotors are equivalent to rotor 20; the first and second lock cylinders are equivalent to lock cylinder 30; the first and second bolts are equivalent to bolt 40; and the first and second fixing members are equivalent to fixing member 50. Therefore, the first joint 61, the second joint 62, and joint 1 have the same structural composition and function.

[0036] In brief, the first joint 61 includes a first joint seat, a first rotor, a first lock cylinder, and a first bolt; the first joint seat includes a first joint base and a first pivot hole passing through it, and also includes a first lock chamber and a first side protrusion disposed on its edge; the first lock chamber includes a first lock cavity defined by a first lock sidewall, and a first lock through hole passing through the first lock sidewall and communicating with the first lock cavity; the first rotor includes a first gear and a first pivot, the outer periphery of the first gear includes a plurality of first sharp teeth, and the first pivot includes a first upper pivot and a first lower pivot; the first lock cylinder includes a first lock block and a first lock tooth disposed at its head end; the first rotor is installed in the first joint seat, wherein the first lower pivot passes through the first pivot hole and is fixed together with the first joint seat, and the first lower pivot can rotate relative to the first pivot hole; the first lock cylinder is installed in the first lock cavity and can move radially along the first pivot hole; the first bolt passes through the first lock through hole and contacts the tail end of the first lock block.

[0037] In brief, the second joint includes a second joint seat, a second rotor, a second lock cylinder, and a second bolt; the second joint seat includes a second joint base and a second pivot hole passing through it, and also includes a second lock chamber and a second side protrusion disposed on its edge; the second lock chamber includes a second lock cavity defined by a second lock sidewall, and a second lock through hole passing through the second lock sidewall and communicating with the second lock cavity; the second rotor includes a second gear disc and a second pivot, the outer periphery of the second gear disc includes a plurality of second pointed teeth, and the second pivot includes a second upper pivot and a second lower pivot; the second lock cylinder includes a second lock block and a second lock tooth disposed at its head end; the second rotor is installed in the second joint seat, wherein the second lower pivot passes through the second pivot hole and is fixed together with the second joint seat, and the second lower pivot can rotate relative to the second pivot hole; the second lock cylinder is installed in the second lock cavity and can move radially along the second pivot hole; the second bolt passes through the second lock through hole and contacts the tail end of the second lock block.

[0038] The connecting rod 63 includes a connecting rod head 631, a connecting rod tail 633, and a connecting rod bar 632 extending therebetween. The connecting rod head 631 is fixed to a first pivot, and the connecting rod tail 633 is fixed to a second side protrusion of a second joint 62. The terms "first" and "second" do not indicate a specific order, but are merely used to distinguish the two joints and their components in subsequent descriptions.

[0039] Similarly, the first and second joints have locked and unlocked states: When the first bolt is locked, the first locking tooth of the first lock cylinder engages with the first pointed tooth of the first gear plate, preventing the first rotor from rotating relative to the first pivot hole, thus the first joint is in the locked state; when the first bolt is released, the first rotor can rotate relative to the first pivot hole, thus the first joint is in the unlocked state. When the second bolt is locked, the second locking tooth of the second lock cylinder engages with the second pointed tooth of the second gear plate, preventing the second rotor from rotating relative to the second pivot hole, thus the second joint is in the locked state; when the second bolt is released, the second rotor can rotate relative to the second pivot hole, thus the second joint is in the unlocked state. The locked and unlocked states of the first and second joints switch independently, are unrelated, and do not affect each other.

[0040] like Figure 16 and Figure 17 The first joint 61 includes a first axis of rotation 611 and a first rotation plane 612 (not shown in the figure), and the second joint 62 includes a second axis of rotation 621 and a second rotation plane 622. In one optional embodiment, the included angle A1 between the first rotation plane 612 and the second rotation plane 622 satisfies: A1 = 90 ± 5°. In yet another embodiment, the connecting rod 63 includes a connecting rod axis 639, which is perpendicular to both the first axis of rotation 611 and the second axis of rotation 621.

[0041] Figure 18 , Figure 19 and Figure 20 A surgical instrument 7 is depicted comprising the combined joint 6, a first beam 71, a second beam 72, and a third beam 73. The first beam 71 includes a first beam head end 711, a first beam tail end 713, and an arcuate first beam body 712 extending therebetween, the first beam body 712 including a plurality of retaining grooves 715. The second beam 72 includes a second beam head end 721, a second beam tail end 723, and an arcuate second beam body 722 extending therebetween, the second beam body 722 including a plurality of retaining grooves 725. The third beam 73 includes a third beam head end 731, a third beam tail end 733, and a third beam body 732 extending therebetween.

[0042] The first beam end 711 is fixed to the first side protrusion of the first joint 61, and the second beam end 721 is fixed to the second rotating shaft of the second joint 62. The third beam end 731 is fixed to the first rotor of the combined joint 6; or to the connecting rod 63 of the combined joint 6; or to the second joint seat of the combined joint 6.

[0043] The first and second joints have a locked state and an unlocked state. In the unlocked state, the first and second rotors can rotate independently. In the locked state, the first and second rotors are individually fixed and can withstand large tensile and torsional loads. Figure 19 , Figure 20 , Figure 21 , Figure 22 and Figure 23 Five typical deformation states of the surgical instrument 7 are described. These states can meet the needs of different clinical scenarios in surgery. The article "Evolution and Trends of Endoscopic Salivary Gland Resection Techniques" published in the Journal of Chemical Stomatology in August 2023 describes in detail the difficulties of laparoscopic surgery for head and neck tumors; Chinese invention application 202211342105.6 proposes "A Head and Neck Surgical Retractor Positioning System and Positioning Method"; 202211342105.6 solves some problems of laparoscopic surgery for head and neck tumors. However, its solution is not conducive to quick, multiple, and multi-directional adjustments during surgery. When the corresponding locking device is loosened to adjust the rotation angle, the instrument detaches into a single component, requiring multiple people to cooperate in the adjustment, which is time-consuming and difficult to obtain the desired angle and position, and it is also difficult to withstand large traction loads. The surgical instrument 7 can be fixed on a universal bedside fixator or fixation frame, and can be quickly and multiple times adjusted in multiple directions by a single person during surgery, and can withstand large traction loads.

[0044] Figure 25 and Figure 26A surgical instrument 7a is depicted, comprising the combined joint 6, a first rod 71a, and a second rod 72a. The first rod 71a includes a first rod head 711a, a first rod tail 713a, and a first rod body 712a extending therebetween. The second rod 72a includes a second rod head 721a, a second rod tail 723a, and a second rod body 722a extending therebetween. The first rod head 711a is fixed to a first side protrusion of the first joint 61, wherein the first rod axis 719a forms an angle A1 = 90 ± 5° with the first rotation axis 611. The second rod head 721a is fixed to a second rotation axis of the second joint 62, wherein the second rod axis 729a forms an angle A1 = 90 ± 5° with the second rotation axis 621. Similarly, the first and second joints include a locked state and an unlocked state. In the unlocked state, the first and second rotors can rotate independently; in the locked state, the first and second rotors are individually fixed and can withstand larger tensile and torsional loads.

[0045] like Figure 26 , Figure 27 and Figure 28 The surgical instrument 7a further includes a bed clamping assembly 75 installed on the side of the operating table, wherein a U-shaped rail 751 is fastened to the edge of the operating table, and tightening the rail locking screw 754 can fix the U-shaped rail 751 to the operating table. Inserting the first rod 71a into the mounting hole 755, rotating and moving the first rod 71a to a suitable position, and then tightening the bracket locking screw 757 can fix the first rod 71a together with the bracket 752.

[0046] Those skilled in the art will understand that while the device 7a and device 7 differ significantly in appearance, their structural composition, function, and beneficial effects are similar. Device 7a can serve as a bedside support, replacing existing suspension devices for non-pneumoperitoneal surgery, thyroid surgery suspension devices, etc. During surgery, device 7a can be quickly and repeatedly adjusted in multiple directions by a single person, can withstand significant tensile loads, and is easy to clean, fold, and store for sterilization.

[0047] Figure 29 and Figure 30 A combined joint 6a is depicted, comprising a first joint 61, a second joint 62, and a connecting rod 63. The first joint 61 includes a first joint seat 10b, a first rotor 20b, a first lock cylinder 30b, a first bolt 40b, and a first fixing member 50b. The second joint 62 includes a second joint seat 10c, a second rotor 20c, a second lock cylinder 30c, a second bolt 40c, and a second fixing member 50c.

[0048] The connecting rod 63 includes a connecting rod head 631, a connecting rod tail 633, and a connecting rod bar 632 extending therefrom. The connecting rod head 631 is fixed to a first rotating shaft, wherein the connecting rod axis 639 and the first rotating shaft axis 611 form an angle A2 = 0 ± 5°. The connecting rod tail 633 is fixed to a second side protrusion of the second joint 62, wherein the connecting rod axis 639 and the second rotating shaft axis 621 form an angle A1 = 90 ± 5°. The combined joint 6a and combined joint 6 have essentially the same composition and structure, the main difference being that the first rotating shaft axis 611 of combined joint 6a is approximately parallel to the connecting rod axis 639, while the first rotating shaft axis 611 of combined joint 6 is approximately perpendicular to the connecting rod axis 639.

[0049] like Figure 31 and Figure 32 A new surgical instrument 7b is formed by replacing the combined joint 6a in surgical instrument 7a with a combined joint 6a. Briefly, surgical instrument 7b includes the combined joint 6a, a first rod 71a, and a second rod 72a. The first rod tip 711a is fixed to the first side protrusion of the first joint 61, wherein the first rod axis 719a and the first rotation axis 611 form an angle A1 = 90 ± 5°. The second rod tip 721 is fixed to the second rotation axis of the second joint 62, wherein the second rod axis 729a and the second rotation axis 621 form an angle A2 = 0 ± 5°. Similarly, the first and second joints have locked and unlocked states. In the unlocked state, the first and second rotors can rotate independently; in the locked state, the first and second rotors are individually fixed and can withstand larger tensile and torsional loads. The functions and beneficial effects of instruments 7a and 7b are similar, the main difference being their rotational deformation direction and folding deformation direction.

[0050] Figure 33 and Figure 34Another surgical instrument 7c is depicted. The surgical instrument 7c includes the combined joint 6a, a first rod 71a, and a second rod 72a. The first rod tip 711a is fixed to a first side protrusion of the first joint 61, wherein the first rod axis 719a forms an angle A2 = 0 ± 5° with the first rotation axis 611. The second rod tip 721 is fixed to a second rotation axis of the second joint 62, wherein the second rod axis 729a forms an angle A2 = 0 ± 5° with the second rotation axis 621. The instrument 7c and the instrument 7b are substantially identical in composition and structure, with the main difference being: in the surgical instrument 7c, the first rod axis 719a is approximately parallel to the first rotation axis 611, while in the surgical instrument 7b, the first rod axis 719a is approximately perpendicular to the first rotation axis 611; in the surgical instrument 7c, the second rod axis 729a is approximately parallel to the second rotation axis 621, while in the surgical instrument 7b, the second rod axis 729a is approximately perpendicular to the second rotation axis 621.

[0051] like Figure 25 and Figure 26 The first joint 61 of the surgical instrument 7a connects the first rod 71a and the connecting rod 63 on the same joint, with the first rod axis 719a and the connecting rod axis 639 being approximately perpendicular to the first rotation axis 611; the second joint 62 of the surgical instrument 7a connects the second rod 72a and the connecting rod 63 on the same joint, with the second rod axis 729a and the connecting rod axis 639 being approximately perpendicular to the second rotation axis 621; the first joint 61 and the second joint 62 of the surgical instrument 7a are referred to as a double parallel joint.

[0052] like Figure 31 and Figure 32 In the device 7b, the first joint 61 connects the first rod 71a and the connecting rod 63 on the same joint. The axis 719a of the first rod is approximately perpendicular to the first rotation axis 611, while the axis 639 of the connecting rod is approximately parallel to the first rotation axis 611. In the device 7b, the second joint 62 connects the second rod 72a and the connecting rod 63 on the same joint. The axis 729a of the second rod is approximately parallel to the second rotation axis 621, while the axis 639 of the connecting rod is approximately perpendicular to the second rotation axis 621. The first joint 61 and the second joint 62 in the device 7b are referred to as a series-parallel joint.

[0053] like Figure 33 and Figure 34In the device 7c, the first joint 61 connects the first rod 71a and the connecting rod 63 on the same joint. The axis 719a of the first rod is approximately parallel to the axis 611 of rotation, and the axis 639 of the connecting rod is approximately parallel to the axis 611 of rotation. In the device 7b, the second joint 62 connects the second rod 72a and the connecting rod 63 on the same joint. The axis 729a of the second rod is approximately parallel to the axis 621 of rotation, and the axis 639 of the connecting rod is approximately parallel to the axis 621 of rotation. The first joint 61 and the second joint 62 in the device 7c are referred to as a double-tandem joint.

[0054] Those skilled in the art should understand that the double parallel joint is mainly used for folding (translation) deformation relative to the lateral direction of the rod; the series-parallel joint is used for rotational deformation relative to the rod axis in a series manner, while its parallel manner is mainly used for folding (translation) deformation relative to the lateral direction of the rod; the double series joint is mainly used for rotational deformation relative to the rod axis.

[0055] Figure 35 A further surgical instrument 7d is depicted, comprising the surgical instrument 7b, and also including a third joint 65 and a third rod 73a. The third joint 65 includes a first joint seat 10b, a first rotor 20b, a first locking cylinder 30b, a first locking bolt 40b, and a first fixing member 50d. In this example, the third joint 65 has the same structural composition and function as the first joint 61, joint 1.

[0056] The third joint 65 includes a third rotation axis 651 and a third rotation plane 652 (not shown in the figure). The third rod 73a includes a third rod head end 731a, a third rod tail end 733a, and a third rod body 732a extending therebetween. The first rod tail end 713a is fixed to the first rotor 20b of the third joint 65, wherein the first rod axis 719a and the third rotation axis 651 form an angle A1 = 90 ± 5°. The third rod head end 731a is fixed to the side protrusion of the third joint 65, wherein the third rod axis 739a and the third rotation axis 651 form an angle A1 = 90 ± 5°. Those skilled in the art will readily recognize that if the tail end 713a of the first rod is fixed to the side protrusion of the third joint 65, wherein the first rod axis 719a and the third rotation axis 651 form an angle A1 = 90 ± 5°, and the head end 731a of the third rod is fixed to the first rotor 20b of the third joint 65, wherein the third rod axis 739a and the third rotation axis 651 form an angle A1 = 90 ± 5°, then, in summary, the first rod 71a, the third joint 65, and the third rod 73a constitute an equivalent double parallel joint.

[0057] Compared to device 7b, device 7d adds a double parallel joint, giving it more degrees of freedom in folding and deformation. Those skilled in the art will readily recognize that, depending on the needs of clinical scenarios, an even greater number of double parallel joints, series-parallel joints, and double series joints can be added.

[0058] Figure 36 Another surgical instrument 7e is depicted, comprising the surgical instrument 7c, and further comprising a third joint 65 and a third rod 73a. The third joint 65 comprises a first joint seat 10b, a first rotor 20b, a first locking cylinder 30b, a first locking bolt 40b, and a first fixing member 50b. In this example, the third joint 65 has the same structural composition and function as the first joint 61, joint 1.

[0059] The third joint 65 includes a third rotation axis 651 and a third rotation plane 632 (not shown in the figure). The third rod 73a includes a third rod head end 731a, a third rod tail end 733a, and a third rod body 732a extending therebetween. The first rod tail end 713a is fixed to the first rotor 20b of the third joint 65, wherein the first rod axis 719a and the third rotation axis 651 form an angle A1 = 90 ± 5°. The third rod head end 731a is fixed to the side protrusion of the third joint 65, wherein the third rod axis 739a and the third rotation axis 651 form an angle A1 = 90 ± 5°. Similarly, if the tail end 713a of the first rod is fixed to the side protrusion of the third joint 65, wherein the first rod axis 719a and the third rotation axis 651 form an angle A1 = 90 ± 5°, and the head end 731a of the third rod is fixed to the first rotor 20b of the third joint 65, wherein the third rod axis 739a and the third rotation axis 651 form an angle A1 = 90 ± 5°. In summary, the first rod 71a, the third joint 65, and the third rod 73a constitute an equivalent double parallel joint.

[0060] Compared to instrument 7c, instrument 7e adds a double parallel joint, giving it more freedom in folding and deformation. Instrument 7e has similar functions and beneficial effects to instrument 7d, but their folding shapes differ slightly. Since instrument 7d uses a series-parallel joint, the connecting rods in the series-parallel joint (such as connecting rod 63 in instrument 7c) should not be too long; otherwise, the folded size will be too large to be placed in the sterilization equipment.

[0061] In summary, the instruments 7a, 7b, 7c, 7d, and 7e are mainly used for bedside support, traction, and suspension in surgical procedures, and can also be referred to as surgical support instruments 7a (7b, 7c, 7d, 7e). When the surgical support instrument contains at least one double parallel joint and one series-parallel joint, or at least one double parallel joint and one double series joint, the surgical support instrument can be folded and rotated simultaneously, which is more conducive to rapid positioning, rapid setup, and intraoperative secondary adjustment in clinical use.

[0062] The aforementioned examples primarily describe the interconnections of the combined joints, without detailing the structure of the locking bolts. Those skilled in the art should readily recognize that, in addition to the helical moving bolts disclosed in joints 1 and 1a, side-sliding locking bolts, rotating cam locking bolts, and other similar schemes can also be used to achieve the switching between unlocked and locked states.

[0063] The aforementioned case mainly describes the interconnection relationship of the combined joints, but does not disclose in detail the specific connection and fixing methods between the first rod, the second rod, the connecting rod, the first rotor, the second rotor, and the side protrusions; common connection and fixing methods include, but are not limited to, welding, interference fit riveting, threaded fixing, flange riveting fixing and other conventional mechanical fixing methods.

[0064] Those skilled in the art will understand that certain features described in this invention can be combined and recombined. For example, replacing one or more joints in surgical stent instruments 7a (7b, 7c, 7d, 7e) with joint 1a can create new surgical stent instruments, and so on. Many different embodiments and examples of the invention have been shown and described. Those skilled in the art can make adaptive improvements to the methods and instruments with appropriate modifications without departing from the scope of the invention. Several modifications have been mentioned, and other modifications will be conceived by those skilled in the art. Therefore, the scope of the invention should be determined according to the appended claims and should not be construed as being limited by the specific content of the structures, materials, or behaviors shown and described in the specification and drawings.

Claims

1. A composite joint, comprising a first joint, a second joint, and a connecting rod, characterized in that: 1) The first joint includes a first joint seat, a first rotor, a first lock cylinder, and a first bolt; the first joint seat includes a first joint base and a first pivot hole, and also includes a first lock chamber and a first side protrusion; the first lock chamber includes a first lock cavity defined by a first lock sidewall, and a first lock through hole penetrates the first lock sidewall and communicates with the first lock cavity; the first rotor includes a first gear and a first pivot, the outer periphery of the first gear includes a plurality of first sharp teeth, and the first pivot includes a first upper pivot and a first lower pivot; the first lock cylinder includes a first lock block and a first lock tooth; the first rotor is installed in the first joint seat, wherein the first lower pivot passes through the first pivot hole and is fixed to the first joint seat, and the first lower pivot can rotate relative to the first pivot hole; the first lock cylinder is installed in the first lock cavity and can move radially along the first pivot hole; the first bolt passes through the first lock through hole and contacts the tail end of the first lock block; 2) The second joint includes a second joint seat, a second rotor, a second lock cylinder, and a second bolt; the second joint seat includes a second joint base and a second pivot hole, and also includes a second lock chamber and a second side protrusion; the second lock chamber includes a second lock cavity defined by a second lock side wall, and a second lock through hole penetrates the second lock side wall and communicates with the second lock cavity; the second rotor includes a second gear disc and a second pivot, the outer periphery of the second gear disc includes a plurality of second pointed teeth, and the second pivot includes a second upper pivot and a second lower pivot; the second lock cylinder includes a second lock block and a second lock tooth; the second rotor is installed in the second joint seat, wherein the second lower pivot passes through the second pivot hole and is fixed together with the second joint seat, and the second lower pivot can rotate relative to the second pivot hole; the second lock cylinder is installed in the second lock cavity and can move radially along the second pivot hole; the second bolt passes through the second lock through hole and contacts the tail end of the second lock block; 3) The connecting rod includes a connecting rod head, a connecting rod tail, and a connecting rod bar extending therebetween. The connecting rod head is fixed to the first rotating shaft, and the connecting rod tail is fixed to the second side protrusion.

2. The combined joint as claimed in claim 1, characterized in that: 1) When the first bolt is locked, the first locking tooth of the first lock cylinder engages with the first pointed tooth of the first gear plate, preventing the first rotor from rotating relative to the first shaft hole, and the first joint is in the locked state; when the first bolt is released, the first rotor can rotate relative to the first shaft hole, and the first joint is in the unlocked state. 2) When the second bolt is locked, the second locking tooth of the second lock cylinder engages with the second pointed tooth of the second gear plate, preventing the second rotor from rotating relative to the second shaft hole, and the second joint is in the locked state; when the second bolt is released, the second rotor can rotate relative to the second shaft hole, and the second joint is in the unlocked state. 3) The locked and unlocked states of the first and second joints switch independently and are not related to each other.

3. The combined joint as claimed in claim 2, characterized in that: 1) The first bolt includes a first lock handle and a first bolt bar connected thereto, the outer surface of the first bolt bar includes a first external thread, and the first lock through hole includes a first internal thread; 2) The first external thread and the first internal thread are matched, and the end face of the bolt bar passes through the first locking hole and contacts the tail end face of the first locking block; 3) Rotate the first lock handle to push the first lock cylinder toward the center of the first pivot hole, so that the first lock tooth engages between any two first sharp teeth, and the first joint changes to the locked state; rotate the first lock handle to move the first lock bar away from the center of the first pivot hole, and the first joint changes to the unlocked state.

4. The combined joint as claimed in claim 2, characterized in that: 1) The tail of the first locking block is provided with a first T-shaped groove; the first locking bolt includes a first locking handle and a first locking bolt rod connected thereto, the outer surface of the first locking bolt rod includes a first external thread, and a single end of the first locking bolt rod includes a first T-shaped head defined by an annular groove; the first locking through hole includes a first internal thread. 2) The first external thread and the first internal thread are matched, the first T-shaped head is engaged in the first T-shaped groove, the first lock handle is rotated to make the first bolt push the first lock core to move toward the center of the first pivot hole, so that the first lock tooth is engaged between any two first pointed teeth, and the first joint is changed to the locked state; the first lock handle is rotated to make the first bolt drive the first lock core to move away from the center of the first pivot hole, and the first joint is changed to the unlocked state.

5. A surgical instrument comprising the combined joint as described in any one of claims 1-4, characterized in that: 1) It also includes the first beam, the second beam, and the third beam; 2) The first beam includes a first beam head end, a first beam tail end and an arc-shaped first beam body extending therebetween; the second beam includes a second beam head end, a second beam tail end and an arc-shaped second beam body extending therebetween; the third beam includes a third beam head end, a third beam tail end and a third beam body extending therebetween. 3) The first beam head end is fixed together with the first side protrusion of the first joint of the combined joint, and the second beam head end is fixed together with the second rotating shaft of the second joint of the combined joint; the third beam head end is fixed together with the first rotor of the combined joint, or with the connecting rod of the combined joint, or with the second joint seat of the combined joint.

6. A surgical instrument comprising the combined joint as described in any one of claims 1-4, characterized in that: 1) It also includes a first club and a second club, the first club including a first clubhead, a first clubtail and a first shaft extending therebetween; the second club including a second clubhead, a second clubtail and a second shaft extending therebetween; 2) The first rod end is fixed together with the first side protrusion of the first joint of the combined joint, and the first rod, the first joint and the connecting rod form a double parallel joint; the second rod end is fixed together with the second pivot of the second joint of the combined joint, and the second rod, the second joint and the connecting rod form a double parallel joint.

7. A surgical instrument comprising the combined joint as described in any one of claims 1-4, characterized in that: 1) The axis of the first rotating shaft of the combined joint forms an angle A2 with the axis of its connecting rod, where A2 = 0 ± 5°; 2) It also includes a first club and a second club, the first club including a first clubhead, a first clubtail and a first shaft extending therebetween; the second club including a second clubhead, a second clubtail and a second shaft extending therebetween. 3) The first rod end is fixed together with the first side protrusion of the first joint, and the first rod, the first joint and the connecting rod form a series-parallel joint; the second rod end is fixed together with the second pivot of the second joint, and the second rod, the second joint and the connecting rod form a series-parallel joint.

8. The surgical instrument as described in claim 7, characterized in that: 1) It also includes a third joint and a third rod, wherein the third joint includes a first joint seat, a first rotor, a first lock cylinder and a first bolt, and the structure and composition of the third joint are the same as those of the first joint; 2) The first link, the third joint, and the third link form a double parallel joint.

9. A surgical instrument comprising the combined joint as described in any one of claims 1-4, characterized in that: 1) The axis of the first rotating shaft of the combined joint forms an angle A2 with the axis of its connecting rod, where A2 = 0 ± 5°; 2) It also includes a first club and a second club, the first club including a first clubhead, a first clubtail and a first shaft extending therebetween; the second club including a second clubhead, a second clubtail and a second shaft extending therebetween. 3) The first rod end is fixed together with the first side protrusion of the first joint, and the first rod, the first joint and the connecting rod form a double series joint; the second rod end is fixed together with the second pivot of the second joint, and the second rod, the second joint and the connecting rod form a double parallel joint.

10. The surgical instrument as described in claim 9, characterized in that: 1) It also includes a third joint and a third rod, wherein the third joint includes a first joint seat, a first rotor, a first lock cylinder and a first bolt, and the structure and composition of the third joint are the same as those of the first joint; 2) The first link, the third joint, and the third link form a double parallel joint.

Images