A minimally invasive surgical instrument adapted for use with an endoscope in a cavity

Abstract

The application discloses a minimally invasive surgical instrument suitable for being used together with an endoscope in a cavity, which comprises an instrument driving box and an instrument storage disc detachably installed at the upper central position of the instrument driving box; the instrument storage disc comprises a winding disc, a steel wire pull-and-push disc and a steel wire rotating disc, the three discs have three coaxially nested input shafts capable of rotating with each other and are respectively used for delivering the instrument, pushing and pulling the steel wire and rotating the steel wire; the instrument driving box comprises a base, a spiral driving disc and a fixed sliding groove plate, a radial groove of the fixed sliding groove plate is provided with an instrument restraint block, the instrument restraint block is arranged in a spiral sliding groove of the spiral driving disc through a bearing at the bottom of the instrument restraint block, and the spiral driving disc drives the instrument restraint block to move radially when rotating, so as to constrain the diameter of the outermost circle when the instrument is delivered. The driving end and the consumable end of the application can be separated, the instrument storage disc can be integrally replaced as disposable consumables, cross infection is avoided, the instrument occupies a small space, and the control mode is consistent with the operation of the endoscope and is more flexible.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a minimally invasive surgical instrument suitable for use in conjunction with an endoscope within a cavity. Background Technology

[0002] For the treatment of diseases of natural cavities such as the digestive, urinary, and respiratory systems, flexible endoscopy combined with relevant surgical instruments is typically used for diagnosis and treatment, and this is the mainstream treatment method. Surgeries involving intervention through natural cavities differ from conventional large-incision surgeries; the surgical space available to medical staff is often relatively narrow, therefore most diagnostic and treatment procedures rely on flexible instruments.

[0003] To meet the needs of intracavitary interventions, flexible instruments are typically designed as slender, flexible devices. Most existing surgical instruments are designed for manual operation, which presents certain limitations under current operating methods: Firstly, flexible instruments require the cooperation of multiple medical personnel, making operation complex, and their operation methods differ from those of endoscopy, making them inconvenient for doctors to master; secondly, the flexible, slender guide tubes within these instruments are prone to contact with foreign objects during use, posing a risk of contamination. Furthermore, the risk of cross-infection during instrument retrieval reduces the safety of flexible instrument use. In addition, flexible, slender instruments, if not properly stored, are prone to loosening, tangling, and occupying significant space.

[0004] Therefore, how to improve the safety of flexible instruments, reduce their space occupation, and make their operation more flexible are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a minimally invasive surgical instrument suitable for use in conjunction with an endoscope within a cavity, in order to solve the technical problems of low safety, large space occupation, and insufficient operational flexibility of existing flexible surgical instruments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A minimally invasive surgical instrument suitable for use with an endoscope within a cavity includes an instrument drive box and an instrument storage tray. The instrument storage tray is detachably mounted at the center of the upper part of the instrument drive box. The instrument storage tray includes a winding tray, a wire pulling and pushing tray, and a wire rotating tray. The instrument coil within the instrument storage tray is wound around the winding tray. The winding tray, the wire pulling and pushing tray, and the wire rotating tray have three coaxially nested input shafts that can rotate relative to each other to drive the instrument to perform delivery, pushing, pulling, and rotation operations. The instrument drive box includes a base, a spiral drive tray, and a fixed slide plate. The spiral drive tray is equipped with... Inside the base, the fixed slide plate is fixed to the upper part of the base and is generally in the form of a disc-shaped annular structure located above the spiral drive disk. The fixed slide plate has several radial grooves and an outlet groove for the instrument to enter and exit on its lower surface facing the spiral drive disk. Each radial groove is provided with an instrument constraint block that can move radially. The instrument constraint block is mounted in the spiral slide groove on the upper surface of the spiral drive disk through a bearing at its bottom. When the spiral drive disk rotates, it can drive the instrument constraint block to move radially along the radial groove to constrain the diameter of the outermost circle of the instrument during delivery.

[0007] Furthermore, the area of ​​the winding disc is larger than that of the wire pulling disc, and the area of ​​the wire pulling disc is larger than that of the wire rotating disc; the outer circumference of the winding disc is provided with a ring groove with depth, and the instrument is wound layer by layer in the ring groove in a spiral winding manner, and the inner end of the flexible outer tube of the instrument is fixed to the innermost ring of the winding disc.

[0008] Furthermore, the diameter of the spiral drive disk is larger than that of the instrument storage disk, and the three input shafts of the instrument storage disk and the three output shafts of the instrument drive box are connected through the through hole in the middle of the spiral drive disk.

[0009] Furthermore, the input shaft of the winding disc is the outermost input shaft, used for instrument delivery; the input shaft of the wire pulling disc is the middle input shaft, used for pulling and pushing the wire; and the input shaft of the wire rotating disc is the innermost input shaft, used for rotating the wire.

[0010] Furthermore, the top surface of the winding disc is provided with a circular recess for accommodating the wire pulling and pushing disc, the main body of the wire pulling and pushing disc is located in the circular recess, the winding disc is provided with a shaft hole at the center of the circular recess, and the rotating shaft at the bottom of the wire pulling and pushing disc passes downward through the shaft hole; the wire rotating disc is located below the rotating shaft of the wire pulling and pushing disc, the outer periphery of the wire pulling and pushing disc is provided with a winding groove, and the interior of the wire pulling and pushing disc is provided with a wire channel that connects from the winding groove to the lower end of the rotating shaft. The winding groove is used to wind the wire drawn out from the inner circle of the winding disc, and the wire channel is used for the inner end of the wire to pass through and be fixedly connected to the wire rotating disc.

[0011] Furthermore, the wire pull-pull plate and the wire rotating plate are rotatably mounted on the winding plate via a fixing cap; the fixing cap is located below the winding plate, and the stepped shaft of the wire pull-pull plate passes through the shaft hole in the middle of the winding plate and is fixedly connected to the fixing cap screw; the lower end of the fixing cap has a constriction portion, and the wire rotating plate has a step corresponding to the constriction portion. The wire rotating plate is rotatably held below the rotating shaft of the wire pull-pull plate by the constriction portion, making the wire pull-pull plate, the wire rotating plate, and the winding plate a single component.

[0012] Furthermore, the input shaft ends of the winding disc, the wire pulling disc, and the wire rotating disc are all designed as non-circular protrusions to connect with the three output shafts of the instrument drive box to realize the transmission of power.

[0013] Furthermore, the instrument drive box has three nested output shafts, corresponding to the three input shafts of the instrument storage tray and connected to them in a non-circular fit. The lower end of the outermost output shaft has an instrument delivery wheel, the lower end of the middle output shaft has a wire push-pull wheel, and the lower end of the innermost output shaft has a wire rotating wheel. The instrument delivery wheel, wire push-pull wheel, and wire rotating wheel are used to connect to the power unit. Each of the instrument delivery wheel, wire push-pull wheel, and wire rotating wheel is formed by a central circular rotating body and multiple radial protrusions evenly distributed around the periphery of the circular rotating body. The outer ends of each radial protrusion are semi-circular, and the dimensions of the instrument delivery wheel, wire push-pull wheel, and wire rotating wheel decrease proportionally.

[0014] Furthermore, the instrument constraint block rotates coaxially with the instrument storage tray, and the rotation speed has a set ratio. The circular radial space freed up by the instrument storage tray due to the continuous delivery of instruments can be filled by the instrument constraint block.

[0015] Furthermore, the instrument delivery wheel is fixed to the delivery gear shaft, which is used to connect with the input shaft of the winding disc. The spiral drive disc is rotatably connected to the delivery gear shaft. The delivery gear shaft is provided with spur teeth, and a coaxial internal gear ring is fixed below the spiral drive disc. The spur teeth of the delivery gear shaft mesh with the internal gear ring through a spur gear. The spur gear is installed on the eccentric position of the base through a first bearing to realize that the spiral drive disc and the instrument storage disc rotate coaxially and have a set transmission ratio.

[0016] Furthermore, a second bearing is provided between the delivery gear shaft and the center hole of the spiral drive disk, and a third bearing is provided between the delivery gear shaft and the center hole of the base; the instrument delivery wheel is rotatably mounted on the base via the delivery gear shaft, the third bearing and the first baffle; a delivery groove is fixed on the delivery gear shaft, and a non-circular groove is provided on the upper end face of the delivery groove to cooperate with the non-circular protrusion at the bottom of the winding disk; the delivery gear shaft and the delivery groove fix the inner ring of the second bearing, and the spiral drive disk and the second baffle fix the outer ring of the second bearing.

[0017] Furthermore, the instrument constraint block is provided with a tongue plate extending from the middle of its inner end toward the center, and the instrument constraint block abuts against the outer diameter of the instrument in the winding disc through the front end of the tongue plate.

[0018] Furthermore, the wire pull-pull plate has a limited rotation range, and can only rotate at a set angle to realize the pulling and pushing opening and closing of the wire inside the device.

[0019] Furthermore, the outlet groove of the fixed slide plate is substantially tangent to the inner wall of the fixed slide plate to connect the inner and outer walls of the fixed slide plate, forming a channel for the delivery and exit of instruments, so as to output or retract the instruments wound on the instrument storage tray outward or inward.

[0020] Compared with the prior art, the present invention has the following beneficial effects: Firstly, the drive end and consumable end of this invention are detachable. The instrument storage tray, as a disposable consumable, can be disassembled and replaced as a whole. The flexible, slender instrument, along with its winding and storage structure, can be replaced as a whole with the instrument storage tray, eliminating the need for instrument recycling and reuse. This avoids the potential for contamination and cross-infection caused by contact with foreign objects during the use and recycling of the flexible, slender guide tube, significantly improving the safety of instrument use.

[0021] Secondly, this invention occupies little space, making it easier for doctors to operate. The instrument is wound layer by layer in the annular groove of the winding disc in a spiral manner, and the diameter of the outermost circle of the instrument is dynamically constrained by the instrument constraint block that moves radially. The radial space vacated by the instrument delivery is promptly and proportionally filled by the instrument constraint block, and the instrument constraint block vacates the radial space outward when the instrument is retracted. This ensures that the flexible instrument maintains a stable state of layered winding during delivery and storage, which not only avoids the flexible instrument from becoming loose or tangled, but also effectively reduces the space occupied by the instrument.

[0022] Thirdly, the control method of this invention is consistent with endoscopy operation, making it more flexible. The three coaxially nested input shafts of the instrument storage tray, which can rotate independently, are used for instrument delivery, wire pushing and pulling, and wire rotation, respectively. These three actions do not interfere with each other and can be driven by corresponding power components, making the operation of this instrument consistent with the operating habits of endoscopy. This makes the operation more flexible and precise, and reduces the reliance on the cooperation of multiple medical staff.

[0023] In addition, the input shaft of the instrument storage tray and the output shaft of the instrument drive box are connected in a non-circular shape, which facilitates the quick assembly and disassembly of the instrument storage tray and ensures reliable power transmission. The spiral drive disc, through the transmission cooperation of the internal gear ring and the spur gear, links the radial movement of the instrument constraint block with the rotation of the instrument storage tray in a set ratio, further ensuring the stability of the instrument winding. Attached Figure Description

[0024] Figure 1 This is an isometric schematic diagram of a minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as provided by the present invention. Figure 2 for Figure 1 A top view of the minimally invasive surgical instruments shown. Figure 3 for Figure 2 A schematic diagram of the AA section view with rotation; Figure 4 for Figure 1 A side view of the minimally invasive surgical instruments shown. Figure 5 An exploded view of the instrument storage tray detaching from the instrument drive box. Figure 6 for Figure 5 Axonometric view of the instrument drive box shown; Figure 7 for Figure 6 A top view of the instrument driver box shown. Figure 8 for Figure 7 A AA section view with rotational diagram; Figure 9 for Figure 7A BB section view rotated diagram (the section line passes through the center line of the buckle); Figure 10 for Figure 6 A side view of the instrument driver box shown. Figure 11 for Figure 6 The diagram shows an exploded view of the instrument drive box. Figure 12 A bottom-view isolating schematic diagram of the helical drive disk, internal gear ring, instrument delivery wheel, delivery gear shaft, delivery groove, and spur gear. Figure 13 A top-view isometric schematic of the helical drive disk, internal gear ring, instrument delivery wheel, delivery gear shaft, delivery groove, and spur gear. Figure 14 for Figure 12 A diagram showing the view from below; Figure 15 for Figure 12 A top-down view; Figure 16 for Figure 12 A side view diagram; Figure 17 for Figure 16 A schematic diagram of the AA section (the section line passes through the center of the spur gear). Figure 18 Axonometric view of the fixed slide plate; Figure 19 A top view of the fixed slide plate; Figure 20 This is an isometric schematic diagram of the instrument constraint block; Figure 21 This is a side view of the instrument constraint block; Figure 22 Axonometric view of the instrument storage tray; Figure 23 This is an exploded view of the instrument storage tray. Figure 24 A bottom view diagram of the instrument storage tray; Figure 25 A top view of the instrument storage tray; Figure 26 for Figure 25 A AA section view with rotational diagram; Figure 27 for Figure 25 A BB section view with rotational diagram; Figure 28 This is an isometric view of the winding disc; Figure 29 for Figure 28A perspective view of the winding disc shown (dashed lines indicate the path of its internal wire channels). Figure 30 This is a bottom view diagram of the winding disc; Figure 31 for Figure 30 A schematic diagram of the AA section.

[0025] The annotations in the attached figures are explained as follows: Instrument drive box 1, instrument storage tray 2, base 11, spiral drive disc 12, spiral chute 121, fixed chute plate 13, radial groove 131, outlet groove 132, instrument constraint block 14, tongue plate 141, bearing 142, internal gear ring 15, spur gear 16, instrument delivery wheel 17, delivery gear shaft 18, delivery groove 19, wire push-pull wheel 20, wire rotating wheel 21, first bearing 22, second bearing 23, third bearing 24, first baffle 25, second baffle 26, first bearing cover plate 27. First bearing baffle; 28. Buckle; 29. ​​Clamping plate; 30. Spring; 31. Winding disc; 41. Annular groove; 411. Circular recess; 412. Shaft hole; 413. Input shaft of winding disc; 414. Wire pull and push disc; 42. Winding groove; 421. Wire channel; 422. Stepped shaft; 423. Input shaft of wire pull and push disc; 424. Wire rotating disc; 43. Input shaft of wire rotating disc; 431. Fixing cap; 44. Closing part; 441. Instrument; 45. Flexible outer tube; 451. Wire; 452. Wire clamp; 46. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0027] In this document, terms such as "upper," "lower," "inner," and "outer" are established based on the positional relationships shown in the accompanying drawings. Depending on the drawings, the corresponding positional relationships may also change. Therefore, they should not be interpreted as an absolute limitation on the scope of protection. Moreover, relational terms such as "first" and "second" are only used to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between these components.

[0028] This embodiment provides a minimally invasive surgical instrument suitable for use with an endoscope within a cavity, such as... Figures 1 to 4As shown, its main structure includes an instrument drive box 1 and an instrument storage tray 2. The instrument storage tray 2 is detachably installed at the center of the upper part of the instrument drive box 1. The instrument storage tray 2 is a disposable consumable. When an instrument storage tray 2 is used up, it can be disassembled and replaced with a new instrument storage tray 2 installed on the instrument drive box 1, so that the drive end, which is the power component, and the storage end, which is the consumable, are independent and detachable. In this way, the flexible and slender instrument 45, along with its winding and storage structure, can be replaced as a whole with the instrument storage tray 2, without the need to recycle and reuse the instrument 45. This avoids the risk of contamination and cross-infection caused by contact with foreign objects during the use and recycling of the instrument 45, and improves the safety of use.

[0029] like Figures 5 to 11 As shown, the instrument drive box 1 mainly includes a base 11, a spiral drive disc 12, a fixed slide plate 13, an instrument constraint block 14, an internal gear ring 15, a spur gear 16, an instrument delivery wheel 17, a delivery gear shaft 18, a delivery groove 19, a wire push-pull wheel 20, a wire rotating wheel 21, a first bearing 22, a second bearing 23, a third bearing 24, a first baffle 25, a second baffle 26, a first bearing cover plate 27, a first bearing baffle plate 28, a buckle 29, a locking plate 30, and a spring 31. The base 11 is used to fix the above-mentioned parts.

[0030] The instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 are coaxially nested and can rotate relative to each other, forming the three output shafts of the instrument drive box 1. The instrument delivery wheel 17 is fixed to the delivery gear shaft 18, the wire push-pull wheel 20 is rotatably mounted on the instrument delivery wheel 17, and the wire rotating wheel 21 is rotatably mounted on the wire push-pull wheel 20. The upper surfaces of the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 are all provided with non-circular grooves (hexagonal grooves in the figure), which respectively cooperate with the non-circular protrusions at the bottom input shafts of the winding disc 41, the wire push-pull disc 42, and the wire rotating disc 43 to achieve power transmission; the lower ends of the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 are used to connect to the power unit.

[0031] In this embodiment, the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 are all formed by a central circular rotating body and three radial protrusions evenly distributed on the outer periphery of the circular rotating body, with the outer end of each radial protrusion being semi-circular. The dimensions of the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 are proportionally reduced to accommodate the three coaxially nested input shafts. The radial protrusion structure at the semi-circular ends facilitates quick docking and installation of the instrument storage tray 2 and reliably transmits torque during transmission.

[0032] like Figures 12 to 19As shown, the delivery gear shaft 18 has spur teeth that mesh with a spur gear 16. The spur gear 16 is rotatably mounted on the base 11 at an eccentric position via a first bearing 22, a first bearing cover 27, and a first bearing baffle 28. The spur gear 16 also meshes with an internal gear ring 15 at a set ratio, and the internal gear ring 15 is coaxially fixed below the spiral drive disk 12. The instrument delivery wheel 17 is rotatably mounted on the base 11 via the delivery gear shaft 18, a third bearing 24, and a first baffle 25. A delivery groove 19 is also fixed on the delivery gear shaft 18, and the upper end face of the delivery groove 19 has a non-circular groove (hexagonal groove in the figure) to engage with the non-circular protrusion at the bottom of the winding disk 41. A second bearing 23 is provided between the delivery gear shaft 18 and the center hole of the spiral drive disk 12. The delivery gear shaft 18 and the delivery groove 19 fix the inner ring of the second bearing 23, and the spiral drive disk 12 and the second baffle 26 fix the outer ring of the second bearing 23, thereby rotatably connecting the spiral drive disk 12 and the delivery gear shaft 18.

[0033] The spiral drive disk 12 is located inside the base 11, and its diameter is larger than that of the instrument storage disk 2. The upper surface of the spiral drive disk 12 facing the fixed slide plate 13 has a vortex-shaped spiral slide 121. The fixed slide plate 13 is generally a disc-shaped annular structure, coaxially fixed to the upper part of the base 11 and located above the spiral drive disk 12. The lower surface of the fixed slide plate 13 facing the spiral drive disk 12 has several radially arranged grooves 131 and an outlet groove 132 for instrument entry and exit. The three input shafts of the instrument storage disk 2 and the three output shafts of the instrument drive box 1 are connected via a through hole in the middle of the spiral drive disk 12.

[0034] Seventeen instrument constraint blocks 14 are arranged circumferentially and at equal intervals (except in the exit area). Each instrument constraint block 14 is slidably installed in the radial groove 131 of the fixed slide plate 13. The bottom of the instrument constraint block 14 is provided with a bearing 142, and it is placed in the spiral groove 121 of the spiral drive disk 12 through the bearing 142. Since the fixed slide plate 13 is fixed relative to the base 11, when the spiral drive disk 12 rotates, the spiral groove 121 drives the instrument constraint block 14 to move radially along the radial groove 131 through the bearing 142, thereby constraining the diameter of the outermost circle of the instrument 45 during delivery.

[0035] like Figure 20 , Figure 21 As shown, each instrument constraint block 14 is provided with a tongue plate 141 extending from the middle part of its inner end towards the center. The instrument constraint block 14 abuts against the outer diameter part of the instrument 45 in the winding disc 41 through the front end of the tongue plate 141, so that the winding instrument 45 is stably constrained.

[0036] Since the internal gear ring 15 is fixed below the spiral drive disk 12 and meshes with the spur gear 16 and the delivery gear shaft 18, the spiral drive disk 12 and the instrument storage tray 2 rotate coaxially and have a set transmission ratio. When the instrument delivery wheel 17 drives the winding disk 41 to rotate to deliver the instrument 45, the spiral drive disk 12 rotates accordingly at a set ratio, driving each instrument constraint block 14 to move radially towards the center in a synchronous manner, timely filling the circular radial space left by the continuous delivery of the instrument storage tray 2; conversely, when the instrument 45 is retracted, the instrument constraint block 14 moves radially outward to make room for the radial space. The radial space vacated and retracted by the instrument storage tray 2 for delivering and storing the instrument 45 is proportionally occupied and vacated by the instrument constraint blocks 14 arranged at equal intervals in the circumference. This ensures that the outermost ring of the instrument 45 in the instrument storage tray 2 is always tangentially in contact with the instrument constraint blocks 14, so that the instrument 45 always maintains a stable state of being coiled in layers. This reduces the space occupied and avoids the loosening and tangling of flexible instruments.

[0037] like Figure 11 As shown, the buckle 29 is located on the upper end face of the fixed slide plate 13. The buckle 29 is slidably installed on both sides of the inner wall of the fixed slide plate 13 through the clamping plate 30 and the spring 31, and can extend and retract radially. When the instrument storage tray 2 is inserted into the instrument drive box 1, the buckle 29 can prevent the instrument storage tray 2 from detaching from the instrument drive box 1, ensuring the installation reliability of the instrument storage tray 2 during use.

[0038] like Figures 22 to 31 As shown, the instrument storage tray 2 mainly includes a winding tray 41, a wire pulling tray 42, a wire rotating tray 43, a fixing cap 44, instruments 45, and a wire clip 46. The area of ​​the winding tray 41 is larger than that of the wire pulling tray 42, and the area of ​​the wire pulling tray 42 is larger than that of the wire rotating tray 43. The outer circumference of the winding tray 41 is provided with an annular groove 411 of a certain depth. The instruments 45 are wound layer by layer in the annular groove 411 in a spiral winding manner, and the inner end of the flexible outer tube 451 of the instruments 45 is fixed to the innermost ring of the winding tray 41. The top surface of the winding tray 41 is provided with a circular recess 412 to accommodate the wire pulling tray 42, and the main body of the wire pulling tray 42 is located in the circular recess 412. The winding tray 41 is provided with a shaft hole 413 at the center of the circular recess 412, and the rotating shaft at the bottom of the wire pulling tray 42 passes downward through the shaft hole 413.

[0039] The wire rotating disk 43 is located below the rotating shaft of the wire pulling disk 42. The outer periphery of the wire pulling disk 42 is provided with a winding groove 421, and the interior of the wire pulling disk 42 is provided with a wire channel 422 connecting the winding groove 421 to the lower end of the rotating shaft. The winding groove 421 is used to wind the wire 452 drawn from the inner ring of the winding disk 41, and the wire channel 422 is used for the inner end of the wire 452 to pass through and be fixedly connected to the wire rotating disk 43. In this embodiment, the rotating shaft at the lower part of the wire pulling disk 42 is a stepped shaft 423. The stepped shaft 423 passes downward through the central shaft hole 413 of the winding disk 41, and the lower end of the stepped shaft 423 is provided with a shaft hole of a certain depth. The upper end of the wire rotating disk 43 extends into this shaft hole for a certain distance, and the two are coaxially nested together.

[0040] The fixing cap 44 is used to rotatably mount the wire pull plate 42 and the wire rotating plate 43 to the winding plate 41. Specifically, the fixing cap 44 is located below the winding plate 41. The stepped shaft 423 of the wire pull plate 42 passes through the shaft hole 413 in the middle of the winding plate 41 and is fixedly connected to the fixing cap 44 with screws, thereby rotatably holding the wire pull plate 42 to the winding plate 41. The lower end of the fixing cap 44 has a constriction portion 441, and the wire rotating plate 43 has a step corresponding to the constriction portion 441. The wire rotating plate 43 is rotatably held below the rotating shaft of the wire pull plate 42 by the constriction portion 441, making the wire pull plate 42, the wire rotating plate 43 and the winding plate 41 a component that can be operated independently, which facilitates the overall disassembly and replacement of the instrument storage tray 2.

[0041] The winding disc 41, the wire pulling disc 42, and the wire rotating disc 43 each have coaxially nested input shafts that can rotate relative to each other: the input shaft 414 of the winding disc is the outermost input shaft, used for delivering the instrument 45; the input shaft 424 of the wire pulling disc is the middle input shaft, used for pulling and pushing the wire 452; and the input shaft 431 of the wire rotating disc is the innermost input shaft, used for rotating the wire 452. The ends of the three input shafts are all designed as non-circular protrusions (hexagonal in the figure), which respectively connect with the non-circular grooves (hexagonal grooves in the figure) on the upper surfaces of the instrument delivery wheel 17, the wire pushing wheel 20, and the wire rotating wheel 21 of the instrument drive box 1 to realize the transmission of power.

[0042] The rotation range of the wire pull-pull plate 42 is limited to a set angle. Therefore, the pulling and pushing of the wire 452 is an opening and closing action within a certain stroke: when the wire pull-pull plate 42 rotates relative to the winding plate 41, the wire 452 wound in the winding groove 421 is pulled out or pushed in, causing the wire 452 to move a certain distance relative to the flexible outer tube 451 of the instrument 45, thereby driving the opening and closing of the end actuator of the instrument 45. The wire retainer 46 is fixed at the instrument outlet of the winding plate 41 to constrain the radial displacement of the instrument 45 and ensure that the instrument 45 is reliably fixed in the winding plate 41; when the instrument storage tray 2 is assembled onto the instrument drive box 1, the wire retainer 46 can be removed.

[0043] The working process of this embodiment is as follows: Rotating the instrument delivery wheel 17 drives the winding disc 41 to rotate as a whole via the delivery gear shaft 18. At this time, the instrument 45 is pushed out of the instrument storage disc 2 or retracted into the instrument storage disc 2. Simultaneously, the spiral drive disc 12 rotates at a set ratio and drives the instrument constraint block 14 to move radially, maintaining the stability of the winding of the instrument 45. Keeping the instrument delivery wheel 17 and the wire rotating wheel 21 stationary, rotating the wire push-pull wheel 20 drives the wire push-pull disc 42 to rotate relative to the winding disc 41, realizing the push-pull operation of the wire 452 inside the instrument 45. Keeping the instrument delivery wheel 17 and the wire push-pull wheel 20 stationary, rotating the wire rotating wheel 21 drives the wire rotating disc 43 to rotate, realizing the rotation of the wire 452. Since the delivery of the instrument 45, the push-pull of the wire 452, and the rotation are controlled by three independent, coaxially nested input axes, the three actions do not interfere with each other, making the control method of this instrument consistent with the operating habits of an endoscope, and the operation more flexible and precise.

[0044] like Figure 5 , Figure 6 As shown, the outlet groove 132 of the fixed slide plate 13 is generally tangent to the inner wall of the fixed slide plate 13, so as to connect the inner wall and the outer wall of the fixed slide plate 13 and form a channel for the delivery and exit of the instrument 45; the outlet groove 132 can move together with the instrument constraint block 14, so as to continuously constrain the position of the instrument 45 while the instrument 45 is moving in and out, and smoothly output the instrument 45 wound on the instrument storage tray 2 outward or retract it inward.

[0045] In other embodiments, the process is basically the same as in Embodiment 1, with the main differences being: First, the number of instrument constraint blocks 14 can be adjusted according to the number of coils and diameter of the instrument 45. Correspondingly, the number of radial grooves 131 on the fixed slide plate 13 is equal to the number of instrument constraint blocks 14, so as to constrain the outermost diameter of the instrument 45 more uniformly over a larger range. Second, the non-circular protrusions of the input shafts of the winding disc 41, the wire push disc 42, and the wire rotating disc 43, as well as the non-circular grooves of the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21, can adopt non-circular mating forms such as splines, regular polygons (such as regular hexagons), or D-shapes, as long as circumferential limiting and torque transmission can be achieved. Third, the transmission ratio between the spur gear 16 and the internal gear ring 15 can be set according to the matching relationship between the radial movement of the instrument constraint block 14 and the rotation of the instrument receiving disc 2, so as to ensure that the radial space vacated by the delivery of the instrument 45 is proportionally matched with the radial space occupied by the instrument constraint block 14. Fourth, two or more clips 29 can be installed along the inner wall of the fixed slide plate 13 to further improve the reliability of the instrument storage tray 2 installation. Fifth, the lower ends of the instrument delivery wheel 17, the wire push-pull wheel 20, and the wire rotating wheel 21 can be connected to independent power components, and driven by the controller according to the endoscope's operating instructions, thereby realizing the electrification and automation of instrument delivery 45 and the pushing, pulling, and rotating of the wire 452. This embodiment also achieves the beneficial effects of detachable drive end and consumable end, small space occupation, and flexible control.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A minimally invasive surgical instrument suitable for use with an endoscope within a cavity, characterized in that, The device includes an instrument drive box (1) and an instrument storage tray (2). The instrument storage tray (2) is detachably installed at the center of the upper part of the instrument drive box (1). The instrument storage tray (2) includes a winding tray (41), a wire pulling tray (42), and a wire rotating tray (43). The instruments (45) in the instrument storage tray (2) are coiled and wound around the winding tray (41). The winding tray (41), the wire pulling tray (42), and the wire rotating tray (43) have three coaxially nested input shafts that can rotate relative to each other. The instrument drive box (1) is provided with three nested output shafts, which correspond to the three input shafts of the instrument storage tray and are connected to them in a non-circular fit to drive the instruments (45) to perform delivery, pushing, pulling, and rotation operations. The instrument drive box (1) includes a base (11), a spiral drive tray (12), and a fixed slide plate (13). The spiral drive disk (12) is located inside the base (11). The fixed slide plate (13) is fixed to the upper part of the base (11) and is generally in the shape of a disc ring structure and located above the spiral drive disk (12). The fixed slide plate (13) has several radial grooves (131) and an outlet groove (132) for the instrument to enter and exit on the lower surface facing the spiral drive disk (12). Each radial groove (131) is provided with an instrument constraint block (14) that can move radially. The instrument constraint block (14) is installed in the spiral slide groove (121) on the upper surface of the spiral drive disk (12) through the bearing (142) at its bottom. When the spiral drive disk (12) rotates, it can drive the instrument constraint block (14) to move radially along the radial groove (131) to constrain the diameter of the outermost circle during the instrument delivery process. The area of ​​the winding disc (41) is larger than that of the wire pulling disc (42), and the area of ​​the wire pulling disc (42) is larger than that of the wire rotating disc (43); the outer circumference of the winding disc (41) is provided with a ring groove (411) with depth, and the instrument (45) is wound layer by layer in the ring groove (411) in a spiral winding manner, and the inner end of the flexible outer tube (451) of the instrument (45) is fixed to the innermost ring of the winding disc (41); The top surface of the winding disc (41) is provided with a circular recess (412) to accommodate the wire pulling disc (42). The main body of the wire pulling disc (42) is located inside the circular recess (412). The winding disc (41) has a shaft hole (413) at the center of the circular recess (412). The rotating shaft at the bottom of the wire pulling disc (42) passes downward through the shaft hole (413). The wire rotating disc (43) is located on the wire pulling disc (42). Below the rotating shaft, the outer periphery of the wire puller (42) is provided with a winding groove (421), and the inside of the wire puller (42) is provided with a wire channel (422) that connects the winding groove (421) to the lower end of the rotating shaft. The winding groove (421) is used to wind the wire (452) drawn out from the inner circle of the winding disc (41), and the wire channel (422) is used to allow the inner end of the wire (452) to pass through and be fixedly connected to the wire rotating disc (43).

2. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 1, is characterized in that... The diameter of the spiral drive disk (12) is larger than that of the instrument storage disk (2). The three input shafts of the instrument storage disk (2) and the three output shafts of the instrument drive box (1) are connected through the through hole in the middle of the spiral drive disk (12).

3. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 2, is characterized in that... The winding disc input shaft (414) of the winding disc (41) is the outermost input shaft, used for the delivery of instruments; the wire push-pull disc input shaft (424) of the wire push-pull disc (42) is the middle input shaft, used for pulling and pushing the wire (452); the wire rotation disc input shaft (431) of the wire rotation disc (43) is the innermost input shaft, used for rotating the wire (452).

4. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 1, is characterized in that... The wire pull plate (42) and the wire rotating plate (43) are rotatably mounted on the winding plate (41) by means of a fixing cap (44); the fixing cap (44) is located below the winding plate (41), and the stepped shaft (423) of the wire pull plate (42) passes through the shaft hole (413) in the middle of the winding plate (41) and is fixedly connected to the fixing cap (44) by screws, thereby rotatably holding the wire pull plate (42) on the winding plate (41); the lower end of the fixing cap (44) has a closing part (441), and the wire rotating plate (43) has a step corresponding to the closing part (441). The wire rotating plate (43) is rotatably held below the rotating shaft of the wire pull plate (42) by the closing part (441), so that the wire pull plate (42), the wire rotating plate (43) and the winding plate (41) become a component.

5. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 3, is characterized in that... The input shaft ends of the winding disc (41), the wire pulling disc (42), and the wire rotating disc (43) are all designed as non-circular protrusions to connect with the three output shafts of the instrument drive box (1) to realize the transmission of power.

6. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 5, is characterized in that... The outermost output shaft has an instrument delivery wheel (17) at its lower end, the middle output shaft has a wire push-pull wheel (20) at its lower end, and the innermost output shaft has a wire rotating wheel (21) at its lower end. The instrument delivery wheel (17), the wire push-pull wheel (20), and the wire rotating wheel (21) are used to connect to the power unit.

7. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 6, is characterized in that... The instrument delivery wheel (17), the wire push-pull wheel (20), and the wire rotating wheel (21) are all formed by a circular rotating body located in the middle and a plurality of radial protrusions evenly distributed on the outer periphery of the circular rotating body. The outer end of each radial protrusion is semi-circular. The dimensions of the instrument delivery wheel (17), the wire push-pull wheel (20), and the wire rotating wheel (21) are reduced in proportion.

8. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 6, is characterized in that... The instrument constraint block (14) rotates coaxially with the instrument storage tray (2), and the rotation speed has a set ratio. The circular radial space left by the instrument storage tray (2) due to the continuous delivery of instruments can be filled by the instrument constraint block (14).

9. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 8, is characterized in that... The instrument delivery wheel (17) is fixed to the delivery gear shaft (18), which is used to connect with the winding disc input shaft (414) of the winding disc (41). The spiral drive disc (12) is rotatably connected to the delivery gear shaft (18). The delivery gear shaft (18) is provided with spur teeth. A coaxial internal gear ring (15) is fixed below the spiral drive disc (12). The spur teeth of the delivery gear shaft (18) mesh with the internal gear ring (15) through a spur gear (16). The spur gear (16) is installed on the eccentric position of the base (11) through a first bearing (22) to realize that the spiral drive disc (12) and the instrument storage disc (2) rotate coaxially and have a set transmission ratio.

10. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 9, is characterized in that... A second bearing (23) is provided between the delivery gear shaft (18) and the center hole of the spiral drive disk (12), and a third bearing (24) is provided between the delivery gear shaft (18) and the center hole of the base (11). The instrument delivery wheel (17) is rotatably mounted on the base (11) through the delivery gear shaft (18), the third bearing (24) and the first baffle (25). A delivery groove (19) is fixed on the delivery gear shaft (18). The upper end face of the delivery groove (19) is provided with a non-circular groove to cooperate with the non-circular protrusion at the bottom of the winding disk (41). The delivery gear shaft (18) and the delivery groove (19) fix the inner ring of the second bearing (23), and the spiral drive disk (12) and the second baffle (26) fix the outer ring of the second bearing (23).

11. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 1, is characterized in that... The instrument constraint block (14) is provided with a tongue plate (141) extending from the middle of its inner end toward the center. The instrument constraint block (14) abuts against the outer diameter of the instrument (45) in the winding disc (41) through the front end of the tongue plate (141).

12. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 1, is characterized in that... The wire pull-pull plate (42) has a limited rotation range and can only rotate at a set angle to achieve the pulling and pushing opening and closing of the wire (452) inside the device.

13. The minimally invasive surgical instrument suitable for use with an endoscope within a cavity, as described in claim 1, is characterized in that... The outlet groove (132) of the fixed slide plate (13) is generally tangent to the inner wall of the fixed slide plate (13) to connect the inner wall and the outer wall of the fixed slide plate (13) to form a channel for the delivery and exit of instruments, so as to output or retract the instruments (45) wrapped on the instrument storage tray (2) outward or inward.

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