Disc-shaped flexible surgical instrument and surgical instrument device

Abstract

The application discloses a disc-shaped flexible surgical instrument and a surgical instrument device. The disc-shaped flexible surgical instrument comprises a flexible surgical instrument body, an instrument storage disc, an upper cover and a driving wire rotating disc. The instrument storage disc is provided with a planar vortex line spiral storage groove. The outer tube of the flexible surgical instrument body is wound in the spiral storage groove. The upper cover is provided with a fixed radial slot hole for leading out. The instrument storage disc rotates relative to the upper cover to deliver or recycle the flexible surgical instrument body. The driving wire rotating disc rotates relative to the instrument storage disc to drive the driving wire to move relative to the outer tube. The instrument driving mechanism fixes the upper cover through a clamping assembly and respectively connects the instrument storage disc and the driving wire rotating disc through two sets of coaxial and independent rotating driving assemblies. The scheme has the advantages of compact structure, stable movement, reduced pollution exposure, fast assembly and disassembly of disc-shaped consumables and automatic connection.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a disc-shaped flexible surgical instrument for diagnostic and treatment scenarios such as vascular intervention, gastrointestinal intervention, bronchial intervention, and urological intervention, as well as an instrument drive mechanism for detachable installation, transport and retrieval, and motion actuation of the disc-shaped flexible surgical instrument. Background Technology

[0002] Interventional diagnostic and treatment procedures performed through the body's natural cavities or blood vessels have advantages such as minimal trauma, less bleeding, and faster recovery, and have been widely used in the examination and treatment of diseases of the digestive, respiratory, urinary, and cardiovascular systems. These procedures typically require the insertion of flexible, slender instruments such as biopsy forceps, snares, injection needles, hemostatic clips, incision knives, guidewires, catheters, or cell brushes into narrow body cavities via an endoscope or catheter.

[0003] Most existing flexible surgical instruments are designed for manual handling, and are relatively long and flexible. During use, physicians and nurses often need to work together to deliver, retrieve, and operate the instruments, increasing the workload on staff. Furthermore, the exposed sections of the instruments are susceptible to contact with external objects or contaminants, and during retrieval, adhering substances may be carried into non-sterile areas, posing a risk of contamination or cross-infection. For robotic or automated interventional systems, it is also necessary to address the compact storage, continuous delivery, motion actuation of long, flexible instruments, and the rapid assembly and disassembly of disposable consumables and reusable actuators.

[0004] To address the challenges of storing and automatically transporting long, flexible medical devices, some existing solutions employ threaded housings or multi-layered nested housings to form a three-dimensional helical channel. The storage unit rotates and the housing moves axially through the threaded engagement between the housings. However, threaded structures require high machining precision and precise clearances. The engagement of internal and external threads generates significant frictional resistance, and multi-layered housings significantly increase the number of parts, material usage, packaging volume, and medical waste disposal costs. Furthermore, the axial movement of the housing may expose internal threads or contaminated areas, making it difficult to simultaneously achieve structural simplification, smooth movement, and contamination isolation.

[0005] Furthermore, for flexible instruments with an outer tube and an internal drive wire, simply achieving overall transport is insufficient to complete the opening, cutting, or clamping actions at the distal end of the instrument. Using multiple independent and difficult-to-align transmission interfaces complicates the consumable installation process and easily leads to problems such as improper connection, unreliable drive force transmission, or difficult disassembly. Therefore, it is necessary to provide a compact, planarly-oriented, independently transportable, and internally driven disc-shaped flexible surgical instrument and its drive mechanism that can be quickly and reliably connected to the drive end. Summary of the Invention

[0006] The purpose of this invention is to provide a disc-shaped flexible surgical instrument and surgical instrument device, so as to at least solve the problems of existing flexible instruments, such as complex storage structure, high frictional resistance, large number of parts, easy exposure of contaminated areas, and inconvenience in assembling and disassembling consumables and drive ends and connecting transmissions.

[0007] To achieve the above objectives, a first aspect of the present invention provides a disc-shaped flexible surgical instrument, comprising a flexible surgical instrument body, an instrument storage tray, a top cover, and a drive wire rotating disc; the flexible surgical instrument body includes an outer tube, a drive wire passing through the outer tube, and an operating part disposed at the distal end of the flexible surgical instrument body and driven by the drive wire; one side of the instrument storage tray is provided with a spiral storage groove extending along a planar spiral line, the outer tube is coiled and stored in the spiral storage groove, and the inner end of the outer tube is fixed relative to the instrument storage tray; the top cover covers the instrument storage tray having the spiral storage groove. On one side, a radial slot is provided for the flexible surgical instrument body to pass through. The upper cover and the instrument storage tray can rotate circumferentially relative to each other, so that the flexible surgical instrument body can be transported outward or retracted inward through the radial slot. The drive wire rotating disk is rotatably disposed in the central area of ​​the instrument storage tray. The inner end of the drive wire extends out of the outer tube and is confined between the drive wire rotating disk and the instrument storage tray. The drive wire is drivenly connected to the drive wire rotating disk, so that when the drive wire rotating disk rotates relative to the instrument storage tray, it drives the drive wire to move axially relative to the outer tube.

[0008] Optionally, the inner end of the outer tube is provided with an outer tube terminal, and the inner end of the spiral receiving groove is provided with an inner end limiting part that cooperates with the outer tube terminal, and the outer tube terminal is snapped into the inner end limiting part.

[0009] Optionally, the drive wire rotary disk has a stepped outer edge, and a first wire feeding groove is provided on the outer circumferential surface of the rear side of the stepped outer edge. A second wire feeding groove extending from the stepped outer edge to the center is provided on the side of the drive wire rotary disk facing the upper cover. A notch is provided on the stepped outer edge to connect the first wire feeding groove and the second wire feeding groove. The inner end of the drive wire is sequentially accommodated in the first wire feeding groove, the notch, and the second wire feeding groove.

[0010] Optionally, the second wire feeding groove is arc-shaped, and a drive wire terminal groove is provided in the second wire feeding groove. A drive wire terminal is fixed on the drive wire, and the drive wire terminal is embedded in the drive wire terminal groove.

[0011] Optionally, the outer edge of the step axially covers the outer tube terminal and the portion of the drive wire extending out of the outer tube to limit the radial runout of the outer tube terminal and the drive wire.

[0012] Optionally, the center of the drive wire rotating disk is provided with an internally threaded sleeve, and the disc-shaped flexible surgical instrument further includes a conductive connector, which is threadedly connected to the internally threaded sleeve and presses and fixes the inner end of the drive wire to the drive wire rotating disk.

[0013] Optionally, the drive wire rotating disk is provided with an arc-shaped boss, and the side of the upper cover facing the drive wire rotating disk is provided with a circular recess and an outwardly expanding arc-shaped groove communicating with the circular recess. The arc-shaped boss is movably accommodated in the outwardly expanding arc-shaped groove and limits the rotation angle of the drive wire rotating disk by abutting against the circumferential end of the outwardly expanding arc-shaped groove.

[0014] Optionally, the periphery of the upper cover is provided with multiple hooks and multiple buckles. The hooks engage with the instrument storage tray to axially limit the drive wire rotating disk between the upper cover and the instrument storage tray; the buckles are used to cooperate with the locking components of the external drive mechanism.

[0015] Optionally, the radial slot is an elongated hole extending radially along the upper cover.

[0016] Optionally, the operating part includes an electric cutting coil and a wire basket connected to the electric cutting coil, and the drive wire is used to drive the electric cutting coil and the wire basket to unfold or retract relative to the outer tube.

[0017] Optionally, the instrument storage tray has an annular protrusion on the side opposite to the spiral storage groove, and the annular protrusion has a plurality of notches spaced apart, the notches forming a first elastic docking groove for transmission connection with an external drive mechanism.

[0018] Optionally, the drive wire rotary disk is provided with at least two second elastic docking holes on the side opposite to the upper cover. The second elastic docking holes are used to be detachably inserted with the elastic docking parts of the external drive mechanism.

[0019] A second aspect of the present invention provides a surgical instrument device, comprising a disc-shaped flexible surgical instrument as described in any one of the preceding claims and an instrument driving mechanism; the instrument driving mechanism includes a frame, a snap-fit ​​assembly for fixing the upper cover to the frame, a first rotary drive assembly for detachably and driveably connected to the instrument storage tray, and a second rotary drive assembly for detachably and driveably connected to the drive wire rotating disk; the first rotary drive assembly and the second rotary drive assembly are rotatable independently of each other to drive the instrument storage tray to rotate relative to the upper cover and drive the drive wire rotating disk to rotate relative to the instrument storage tray, respectively.

[0020] Optionally, the frame includes a base and an annular support body disposed on the base; the snap-fit ​​assembly includes an outer ring limiting support frame fixed to the annular support body, a large bearing disposed within the outer ring limiting support frame, a bearing cover plate constraining the large bearing, and a plurality of pins arranged circumferentially at intervals along the bearing cover plate, the pins being capable of snapping with the snap fasteners of the upper cover.

[0021] Optionally, each of the pins is radially telescopically mounted on the pin seat via a pin return spring. The snap-fit ​​assembly also includes a pin drive gear coaxially sleeved on the outside of the outer ring limiting support frame. The outer periphery of the pin drive gear is provided with conical protrusions corresponding to each pin. When the pin drive gear rotates, the conical protrusions push the pins to move outward against the elastic force of the pin return spring, so that the pins disengage from the snap-fit.

[0022] Optionally, the pin is L-shaped, including a pin head extending radially and a pin arm extending axially, the pin arm abutting against the conical protrusion; the pin head has an inlet ramp on the side facing the disc-shaped flexible surgical instrument.

[0023] Optionally, the inner circumference of the pin drive gear is provided with a rotation limiting block, and the outer circumference of the outer ring limiting support frame is provided with a rotation limiting groove. One end of the rotation limiting groove is provided with an opening for the rotation limiting block to enter. The rotation limiting block cooperates with the rotation limiting groove to limit the rotation angle of the pin drive gear.

[0024] Optionally, the front end face of the bearing cover is provided with a hook groove corresponding to the number of hooks, and the hooks are embedded in the hook groove to restrict the circumferential rotation of the upper cover relative to the frame.

[0025] Optionally, the first rotary drive assembly includes a bearing inner support mounted inside the large bearing, a plurality of first elastic coupling parts disposed on the front end face of the bearing inner support, a storage tray rotary drive gear connected to the rear end of the bearing inner support, a first pinion meshing with the storage tray rotary drive gear, and a storage tray motor driving the first pinion gear, wherein the first elastic coupling parts are detachably inserted into the first elastic coupling groove of the instrument storage tray.

[0026] Optionally, the second rotary drive assembly includes a rotary drive plate mounted on the inner side of the bearing inner bracket via a small bearing, at least two second elastic coupling members disposed on the front end face of the rotary drive plate, a rotary disk drive gear connected to the rear end of the rotary drive plate, a second pinion meshing with the rotary disk drive gear, and a rotary disk motor driving the second pinion. The second elastic coupling member is detachably inserted into the second elastic coupling hole of the drive wire rotary disk.

[0027] Optionally, the first elastic docking member includes a first pin and a first spring, and the second elastic docking member includes a second pin and a second spring. Both the first pin and the second pin are capable of elastic extension and retraction along the axial direction. When the corresponding elastic docking member is not aligned with the corresponding elastic docking groove or elastic docking hole, the first pin or the second pin is in a retracted state and is pushed into the corresponding elastic docking groove or elastic docking hole by the elastic force after the corresponding rotary drive assembly rotates to the alignment position.

[0028] Optionally, the first rotary drive assembly and the second rotary drive assembly are coaxially arranged, and the storage tray motor and the rotary tray motor are independently controlled, so that the conveying and retrieval action of the disc-shaped flexible surgical instrument is independent of the opening and closing action of the operating part.

[0029] Compared with the prior art, the present invention has at least the following beneficial effects: Firstly, the flexible surgical instrument body is spirally wound around the planar vortex groove of the instrument storage tray, eliminating the need for a multi-layered threaded shell and a shell axial movement structure, thereby reducing the axial dimensions of the consumables, the number of parts, and the manufacturing cost.

[0030] Secondly, the instrument storage tray and the top cover can rotate relative to each other to achieve continuous transport and retrieval of the flexible surgical instrument body. The storage path is kept in approximately the same plane, the kinematic chain is short, there are fewer friction pairs, and the transport process is more stable.

[0031] Third, the top cover covers the spiral storage groove, which can limit the movement of the outer tube and shield the recovered flexible instrument segment. The contaminants attached to the instrument can be confined inside the disc-shaped consumable, which helps to reduce the contamination of the drive mechanism and surrounding devices.

[0032] Fourth, the overall conveying motion of the instrument storage tray and the internal driving motion of the drive wire rotating disc are independent of each other, and the position of the instrument's distal end and the opening, closing or cutting action of the operating part can be controlled separately, adapting to automated and robotic intervention operations.

[0033] Fifth, the outer tube terminal, drive wire terminal, wire feed groove, and stepped outer edge together limit the inner end of the outer tube and the drive wire, which can reduce the axial movement and radial runout in the coiled state and improve the transmission stability.

[0034] Sixth, the quick installation and removal of disc-shaped consumables is achieved through the locking of the pin and the unlocking of the gear. The limiting structure of the pin-driven gear can avoid excessive rotation and improve the reliability of locking and releasing.

[0035] Seventh, the flexible docking parts can retract when misaligned and automatically spring in after rotational alignment, reducing the phase alignment requirements during installation and creating a reliable and separable power interface between the disposable disc consumables and the reusable drive mechanism. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the axial structure of the surgical instrument device provided in an embodiment of the present invention; Figure 2 for Figure 1 A longitudinal sectional view of the surgical instrument device shown. Figure 3 A schematic diagram of the axial side structure of a disc-shaped flexible surgical instrument provided in an embodiment of the present invention; Figure 4 A schematic diagram of a flexible surgical instrument body coiled in an instrument storage tray; Figure 5 A schematic diagram of the outer tube terminal and drive wire terminal of the flexible surgical instrument body; Figure 6 A schematic diagram of the basket structure for a flexible surgical instrument body; Figure 7 A cross-sectional view of a disc-shaped flexible surgical instrument; Figure 8 A schematic diagram of the front structure of the instrument storage tray and its flexible docking structure on the back. Figure 9 This is another structural diagram of the instrument storage tray; Figure 10 This is a schematic diagram of the front and back structure of the top cover; Figure 11 This is another structural diagram of the top cover; Figure 12 This is a schematic diagram of the front and back structures of the drive wire rotary disk; Figure 13 This is another schematic diagram of the drive wire rotary disk; Figure 14 This is a schematic diagram of the axonal structure from the front view of the instrument drive mechanism. Figure 15 This is a schematic diagram of the axonal structure of the instrument drive mechanism from the rear view. Figure 16 This is a cross-sectional structural diagram of the instrument drive mechanism; Figure 17 A cross-sectional view of the first and second elastic coupling components is shown below. Figure 18 This is a schematic diagram of the pin-driven gear structure. Figure 19 A schematic diagram of the assembly structure of the outer ring limiting support frame and the pin drive gear; Figure 20 This is a schematic diagram illustrating the process by which the pin-driven gear switches the pin from a engaged state to an unlocked state.

[0037] The annotations in the attached figures are explained as follows: 1. Disc-shaped flexible surgical instrument; 10. Flexible surgical instrument body; 11. Outer tube; 12. Drive wire; 13. Operating part; 14. Basket; 15. Outer tube terminal; 16. Drive wire terminal; 17. Conductive connector; 20. Instrument storage tray; 21. Spiral storage groove; 22. Inner end limiting part; 23. Central mounting hole; 24. First elastic docking groove; 25. Annular protrusion; 26. Notch; 30. Drive wire rotating disk; 31. Stepped outer edge; 32. First wire feeding groove; 33. Second wire feeding groove; 34. Notch groove; 35. Drive wire terminal groove; 36. Internal threaded sleeve; 37. Arc-shaped boss; 38. Second elastic docking hole; 40. Top cover; 41. Hook; 42. Buckle; 43. Radial slot; 44. Circular recess; 45. Outwardly expanding arc-shaped groove; 46. Through hole; 50. Instrument drive mechanism; 51. 52. Frame; 53. Base; 54. Annular support; 55. Outer ring limiting support frame; 56. Large bearing; 57. Bearing cover plate; 58. Hook groove; 59. Pin; 60. Pin return spring; 61. Pin drive gear; 62. Conical protrusion; 63. Rotation limiting block; 64. Rotation limiting groove; 65. Opening; 66. Inner bearing support; 67. First elastic coupling; 68. First pin; 69. Storage tray rotation drive gear; 70. First pin; 71. Storage tray motor; 72. Rotation drive plate; 73. Small bearing; 74. Second elastic coupling; 75. Second pin; 76. Second spring; 77. Rotary disk drive gear; 78. Second pin; 79. Rotary disk motor; 81. Third pin; 82. Pin drive motor; 100. Surgical instrument device. Detailed Implementation

[0038] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Unless otherwise specified, the various embodiments and technical features described in this specification can be combined with each other. The term "front side" as used herein refers to the side of the disc-shaped flexible surgical instrument 1 facing the operator or consumable loading direction when it is inserted into the instrument drive mechanism 50; "rear side" refers to the side opposite to the front side and closer to the drive motor; "inner end" refers to the end of the flexible surgical instrument body 10 located inside the disc-shaped storage structure; "outer end" or "distal end" refers to the end that can be delivered through the radial slot 43 and enter the patient's body.

[0039] like Figure 1 and Figure 2As shown, the surgical instrument device 100 of this embodiment includes a disc-shaped flexible surgical instrument 1 and an instrument drive mechanism 50. The disc-shaped flexible surgical instrument 1 can be used as a sterile disposable consumable, and the instrument drive mechanism 50 can be used as a reusable drive end. After the disc-shaped flexible surgical instrument 1 is installed in the instrument drive mechanism 50, the upper cover 40 is fixed, and the instrument storage tray 20 and the drive wire rotating tray 30 are respectively connected to two sets of coaxial drive components in the instrument drive mechanism 50, thereby forming a dual-degree-of-freedom drive structure in which the overall conveying and internal movements are independent.

[0040] like Figures 3 to 7 As shown, the disc-shaped flexible surgical instrument 1 includes a flexible surgical instrument body 10, an instrument storage tray 20, a drive wire rotating disc 30, a top cover 40, and a conductive connector 17. The flexible surgical instrument body 10 is a slender and flexible structure, including an outer tube 11 and a drive wire 12 passing through the outer tube 11. The drive wire 12 can be composed of a single metal wire, steel wire rope, braided filament bundle, or other flexible transmission components capable of transmitting tension and thrust. The outer tube 11 can be a polymer tube with a low-friction liner, a metal spring tube, or a multi-layer composite tube. The outer tube 11 provides axial guidance and lateral support for the drive wire 12.

[0041] In this embodiment, the flexible surgical instrument body 10 is an electric snare with a basket 14, and the distal operating part 13 includes an electric cutting coil and a basket 14. When the drive wire 12 moves distally relative to the outer tube 11, the electric cutting coil and the basket 14 can extend and unfold from the distal end of the outer tube 11; when the drive wire 12 moves proximally relative to the outer tube 11, the electric cutting coil and the basket 14 can be pulled back and retracted. After the electric cutting coil is electrically connected to the high-frequency electrogenerator, it can be used to ligate and electrocute polyps or other tissues, and the basket 14 can receive and remove the excised tissue after the excision is completed. It should be noted that the flexible surgical instrument body 10 is not limited to an electric snare, and can also be replaced by biopsy forceps, clamps, hemostatic clip releasers, injection needles, incision knives, guide wires, catheters, cell brushes, or other flexible interventional instruments with an outer tube and an internal drive component.

[0042] The instrument storage tray 20 is generally disc-shaped, with a forward-opening spiral storage groove 21 on its front side. The spiral storage groove 21 is formed along an approximate Archimedean spiral, equidistant vortex, or other curves that extend continuously from the inside to the outside in a plane, maintaining a suitable spacing between adjacent groove segments to accommodate the outer tube 11. The cross-section of the spiral storage groove 21 can be arc-shaped, U-shaped, rectangular, or trapezoidal, and its groove width is slightly larger than the outer diameter of the outer tube 11 to allow the outer tube 11 to slide along the length of the groove while limiting excessive radial displacement of the outer tube 11. By coiling long, flexible instruments within the same disc surface, longer instruments can be accommodated with a smaller axial thickness.

[0043] The inner end of the outer tube 11 is provided with an outer tube terminal 15. The outer tube terminal 15 can be fixed to the outer tube 11 by injection molding, pressing, bonding, welding or mechanical clamping. The inner end of the spiral storage groove 21 is provided with an inner end limiting part 22, which can be a terminal groove, bayonet or stop step that matches the shape of the outer tube terminal 15. During assembly, the outer tube terminal 15 is inserted into the inner end limiting part 22, so that the inner end of the outer tube 11 is fixed relative to the instrument storage tray 20. In this way, when the instrument storage tray 20 rotates relative to the top cover 40, the outer tube 11 coiled in the spiral storage groove 21 will be gradually released outward or retracted inward under the guidance of the groove wall and the constraint of the radial slot hole 43, without the inner end moving accordingly.

[0044] The instrument storage tray 20 has a central mounting hole 23, and the drive wire rotating disk 30 is rotatably mounted at the central mounting hole 23. The drive wire rotating disk 30 and the instrument storage tray 20 are preferably coaxially arranged, and an annular sliding mating surface, a low-friction pad, or an axial limiting step can be provided between them. After the upper cover 40 is engaged with the instrument storage tray 20, the drive wire rotating disk 30 is clamped between the upper cover 40 and the instrument storage tray 20, allowing it to rotate around the central axis while being axially limited.

[0045] like Figure 7 , Figure 12 and Figure 13 As shown, the drive wire rotating disk 30 has a stepped disk-shaped structure and a stepped outer edge 31 near the instrument storage tray 20. A first wire feeding groove 32 is provided on the outer circumferential surface behind the stepped outer edge 31, extending circumferentially but not completing a full circle. A second wire feeding groove 33 is provided on the front side of the drive wire rotating disk 30, extending from the stepped outer edge 31 towards the center. A notch 34 connecting the first wire feeding groove 32 and the second wire feeding groove 33 is provided on the stepped outer edge 31. After the inner end of the outer tube 11 is fixed, the drive wire 12 continues to extend inward, its extended section sequentially entering the first wire feeding groove 32, the notch 34, and the second wire feeding groove 33. After the drive wire rotating disk 30 is attached to the instrument storage tray 20, the aforementioned wire feeding grooves and the opposing surfaces of the instrument storage tray 20 together form a semi-closed or closed wire feeding channel to prevent the drive wire 12 from detaching from the wire feeding path.

[0046] The second wire feeding groove 33 is preferably a smooth arc shape to avoid small-radius bending when the drive wire 12 transitions from the outer edge 31 of the stepped surface to the center of the drive wire rotating disk 30. A drive wire terminal groove 35 is provided in the second wire feeding groove 33, and a drive wire terminal 16 is fixed on the drive wire 12. After the drive wire terminal 16 is inserted into the drive wire terminal groove 35, the drive wire 12 and the drive wire rotating disk 30 form a circumferential transmission relationship. The drive wire terminal 16 can be cylindrical, spherical, block-shaped, or a press-fit sleeve structure. A small assembly gap can be maintained between it and the drive wire terminal groove 35 to absorb manufacturing errors and reduce local stress.

[0047] The stepped outer edge 31 axially covers the outer tube terminal 15 and the portion of the drive wire 12 extending from the outer tube 11. On the one hand, the stepped outer edge 31 and the instrument storage tray 20 together restrict the radial runout of the outer tube terminal 15, preventing it from dislodging from the inner end limiting portion 22; on the other hand, the stepped outer edge 31 forms a pressing and guiding effect on the transition section of the drive wire 12, so that when the drive wire rotary disk 30 rotates, the drive wire 12 can move smoothly along the predetermined wire feeding path.

[0048] The drive wire rotary disk 30 has a hollow internally threaded sleeve 36 at its center, and the end of the second wire feeding groove 33 extends into the interior of the internally threaded sleeve 36. The conductive connector 17 has an external thread that mates with the internally threaded sleeve 36. During assembly, the inner end of the drive wire 12 is placed in the crimping area of ​​the internally threaded sleeve 36 or its bottom, and the conductive connector 17 is screwed into the internally threaded sleeve 36 to press the drive wire 12. Thus, the conductive connector 17 simultaneously serves the functions of mechanical fixation and electrical connection of the drive wire 12. The conductive connector 17 protrudes from the through hole 46 of the upper cover 40 and can be connected to the connection terminal of an external high-frequency power generating device. For flexible devices that do not require electrical power, the conductive connector 17 can also be replaced with a clamping component used only for mechanical fixation.

[0049] like Figure 10 and Figure 11 As shown, the upper cover 40 is generally disc-shaped, with multiple hooks 41 and multiple buckles 42 on its outer periphery. In this embodiment, there are three hooks 41 and three buckles 42, distributed circumferentially, but their number can be set to two, four or more depending on the disc diameter, load and installation space. The hooks 41 engage with the snap-fit ​​structure around the periphery of the instrument storage tray 20, keeping the upper cover 40 and the instrument storage tray 20 connected axially. After snap-fitting, the upper cover 40 covers the spiral storage groove 21 and the drive wire rotating disc 30, preventing the outer tube 11 from jumping forward from the spiral storage groove 21 and isolating the recovered instrument segment inside the disc-shaped consumable.

[0050] The upper cover 40 is provided with radial slots 43, which extend from near the center to the outer periphery of the upper cover 40. The outer end of the flexible surgical instrument body 10 passes through the radial slots 43. The radial slots 43 can be elongated holes, arc-shaped elongated holes, or outlet channels composed of multiple connected hole segments. Their width allows the outer tube 11 to move along the length of the hole, but should be less than the width that might cause the outer tube 11 to detach from the guide. When the upper cover 40 is fixed by the instrument drive mechanism 50 and the instrument storage tray 20 rotates, the radial slots 43 act as a fixed outlet, and the spiral storage groove 21 rotates relative to the fixed outlet, thereby changing the effective length of the outer tube 11 within the tray to achieve continuous delivery or retrieval.

[0051] The back of the top cover 40 is provided with a circular recess 44 capable of accommodating the drive wire rotating disk 30. A portion of the circular recess 44 expands radially outward to form an outwardly expanding arc-shaped groove 45. An arc-shaped boss 37 is provided on the stepped outer edge 31 of the drive wire rotating disk 30. The arc-shaped boss 37 enters the outwardly expanding arc-shaped groove 45 and can move circumferentially thereafter. The two ends of the outwardly expanding arc-shaped groove 45 constitute mechanical limiting ends. When the drive wire rotating disk 30 rotates to its limit position, one end of the arc-shaped boss 37 abuts against the corresponding limiting end, thereby limiting the maximum push-pull stroke of the drive wire 12 and preventing the distal operating part 13 from over-expanding or the drive wire 12 from being subjected to excessive tension. In this embodiment, the outwardly expanding arc-shaped groove 45 is approximately semi-circular, and the actual arc length can be determined according to the required stroke of the operating part 13.

[0052] like Figure 8 and Figure 9 As shown, the back of the instrument storage tray 20 has an annular protrusion 25, and multiple notches 26 are spaced apart on the annular protrusion 25, each notch 26 forming a first elastic docking groove 24. The first elastic docking groove 24 is used to insert with the first elastic docking member 66 of the instrument drive mechanism 50, so that the torque of the bearing inner support 65 is transmitted to the instrument storage tray 20. The back of the drive wire rotating disk 30 has at least two second elastic docking holes 38 (see... Figure 13 The first elastic docking groove 24 and the second elastic docking hole 38 are used to insert into the second elastic docking member 74, so that the torque of the rotary drive plate 72 is transmitted to the drive wire rotary disk 30. The first elastic docking groove 24 and the second elastic docking hole 38 can be arranged asymmetrically to form a unique assembly phase when needed; or they can be evenly distributed circumferentially to shorten the rotation angle required for automatic alignment.

[0053] The following is combined Figures 14 to 20 The instrument drive mechanism 50 is described. The instrument drive mechanism 50 includes a frame 51. The frame 51 includes a base 52 and an annular support 53 disposed on the base 52. The annular support 53 forms an insertion area for the disc-shaped flexible surgical instrument 1 and supports the snap-fit ​​assembly and two sets of rotary drive assemblies.

[0054] The snap-fit ​​assembly includes an outer ring limiting support frame 54, a large bearing 55, a bearing cover plate 56, multiple pins 58, pin return springs 59, and pin drive gears 60. The outer ring limiting support frame 54 is fixed to the annular support body 53. The large bearing 55 is installed inside the outer ring limiting support frame 54, and the bearing cover plate 56 provides axial constraint to the large bearing 55 from the front. The inner ring of the large bearing 55 supports the bearing inner bracket 65, allowing the bearing inner bracket 65 to rotate relative to the frame 51.

[0055] Multiple pins 58 are spaced circumferentially along the bearing cover plate 56. Each pin 58 is radially movable and is biased radially inward by a pin return spring 59. In this embodiment, the pin 58 is L-shaped, including a pin head extending radially and a pin arm extending axially. The pin head has an inlet ramp facing the front of the disc-shaped flexible surgical instrument 1. When the disc-shaped flexible surgical instrument 1 is installed, the upper cover 40 is pushed backward, and the latch 42 or its edge first contacts the inlet ramp and pushes the pin 58 outward; after further pushing, the pin 58 rebounds under the action of the pin return spring 59 and enters the slot of the latch 42, thereby preventing the upper cover 40 from axially disengaging.

[0056] The front end face of the bearing cover 56 is also provided with multiple hook grooves 57 corresponding to the hooks 41. After the disc-shaped flexible surgical instrument 1 is installed in place, the hooks 41 are inserted into the hook grooves 57, thereby restricting the circumferential rotation of the upper cover 40 relative to the frame 51. Since the hooks 41 are also axially engaged with the instrument storage tray 20, the upper cover 40 can be kept fixed while allowing the instrument storage tray 20 to rotate relative to the upper cover 40 under axially restricted conditions.

[0057] The pin drive gear 60 is coaxially mounted on the outside of the outer ring limiting support frame 54 and located on the rear side of the bearing cover plate 56. The outer circumferential surface of the pin drive gear 60 is provided with tapered protrusions 61 corresponding to each pin 58. The tapered protrusions 61 have a gradually changing profile surface along the circumference, and the pin arm contacts this profile surface. When the pin drive gear 60 rotates in the unlocking direction, the tapered protrusions 61 gradually push the pin arm radially outward, and the pin head overcomes the elastic force of the pin return spring 59 to disengage from the latch 42, thereby releasing the disc-shaped flexible surgical instrument 1. After the pin drive gear 60 rotates in the reverse direction, the pin 58 returns to its radially extended position under the action of the pin return spring 59.

[0058] like Figure 18 and Figure 19 As shown, the inner circumference of the pin-driven gear 60 is provided with a rotation limiting block 62, and the outer circumference of the outer ring limiting support frame 54 is provided with a rotation limiting groove 63. One end of the rotation limiting groove 63 has a rearward through opening 64. When assembling the pin-driven gear 60, the rotation limiting block 62 enters the rotation limiting groove 63 through the opening 64. The rotation limiting block 62 can only move within the arc length range of the rotation limiting groove 63, so the pin-driven gear 60 can only rotate at a limited angle between the locked position and the unlocked position. This structure facilitates assembly and avoids the conical protrusion 61 from overstepping or the pin 58 from abnormal force caused by continuous rotation of the pin-driven gear 60. The pin-driven gear 60 meshes with the third pinion 81, which is driven by the pin-driven motor 82.

[0059] The first rotary drive assembly drives the instrument storage tray 20. A bearing inner support 65 is mounted inside the large bearing 55, with multiple first elastic coupling members 66 arranged circumferentially on its front end face, and its rear end connected to the storage tray rotary drive gear 69. The storage tray rotary drive gear 69 meshes with a first pinion 70, which is driven by the storage tray motor 71. When the first elastic coupling member 66 enters the first elastic coupling groove 24, the torque of the storage tray motor 71 is transmitted sequentially to the instrument storage tray 20 via the first pinion 70, the storage tray rotary drive gear 69, the bearing inner support 65, and the first elastic coupling members 66.

[0060] Each first elastic coupling member 66 includes a first pin 67 and a first spring 68. The first pin 67 is axially telescopically mounted on the inner support 65 of the bearing and is biased forward by the first spring 68. The front end of the first pin 67 can be a round head, a conical head, or a chamfered head to enter the first elastic coupling groove 24. When the disc-shaped flexible surgical instrument 1 is just inserted and the first pin 67 is not aligned with the first elastic coupling groove 24, the first pin 67 is pressed back by the back of the instrument storage tray 20; after the storage tray motor 71 drives the inner support 65 of the bearing to rotate at low speed, the first pin 67 slides along the back of the instrument storage tray 20, rotates to the alignment position, and is then springed into the first elastic coupling groove 24 under the action of the first spring 68, realizing automatic transmission engagement.

[0061] The second rotary drive assembly drives the drive wire rotary disk 30. The rotary drive plate 72 is mounted inside the bearing inner support 65 via a small bearing 73, allowing the rotary drive plate 72 to rotate independently relative to the bearing inner support 65. Multiple second elastic coupling members 74 are symmetrically or spaced apart on the front end of the rotary drive plate 72, and its rear end is connected to the rotary disk drive gear 77. The rotary disk drive gear 77 meshes with a second pinion 78, which is driven by the rotary disk motor 79.

[0062] The second elastic docking component 74 includes a second pin 75 and a second spring 76, and its working principle is the same as that of the first elastic docking component 66. When the second pin 75 is not aligned with the second elastic docking hole 38, the second pin 75 is compressed back to the rotary drive plate 72; after the rotary disk motor 79 drives the rotary drive plate 72 to rotate at low speed to the alignment position, the second pin 75 enters the second elastic docking hole 38 under the action of the second spring 76. Thus, the disc-shaped flexible surgical instrument 1 does not require manual adjustment of the angles of the instrument storage tray 20 and the drive wire rotary disk 30 before insertion, and the two sets of drive components can automatically complete phase alignment through short-distance low-speed rotation.

[0063] The bearing inner support 65 and the rotary drive plate 72 are preferably arranged coaxially. The receiving disc rotary drive gear 69 and the rotary disc drive gear 77 can be arranged in layers along the axial direction and mesh with their corresponding pinions. A nested support is formed by the large bearing 55 and the small bearing 73, allowing the two sets of rotary drive components to rotate independently within a limited axial space. The first pinion 70 and the second pinion 78 can be equipped with encoders or use the motor's built-in position feedback to control the instrument's conveying length and drive wire stroke; alternatively, endpoint determination can be based on mechanical limits and current changes. The above position detection methods are conventional control methods and do not change the mechanical connection relationship of the present invention.

[0064] The installation process of the disc-shaped flexible surgical instrument 1 is as follows. First, with the upper cover 40 facing the instrument drive mechanism 50, align the hook 41 with the hook groove 57 of the bearing cover plate 56 and push it backward. The latch 42 pushes the pin 58 radially back until the pin 58 springs back into the latch 42. At this time, the upper cover 40 is locked axially by the pin 58 and limited circumferentially by the engagement of the hook 41 and the hook groove 57. If the first elastic docking member 66 and the second elastic docking member 74 are not yet aligned with the first elastic docking groove 24 and the second elastic docking hole 38 respectively, the corresponding pin is in an axially retracted state. Control the two sets of drive components to rotate at low speed sequentially or simultaneously until the corresponding pin springs in, thereby completing the power docking.

[0065] During the transport of the flexible surgical instrument body 10, the upper cover 40 remains fixed relative to the frame 51, and the storage tray motor 71 drives the instrument storage tray 20 to rotate. Since the inner end of the outer tube 11 is fixed to the inner end of the spiral storage groove 21, and the outer end of the outer tube 11 passes through the fixed radial slot 43, the rotation of the instrument storage tray 20 causes the spiral storage groove 21 to move continuously relative to the radial slot 43. When rotating in one direction, the outer tube 11 gradually leaves the spiral storage groove 21 and is transported outward through the radial slot 43; when rotating in the opposite direction, the outer tube 11 re-enters the spiral storage groove 21 and is coiled and retrieved in a spiral pattern. The transport length of the flexible surgical instrument body 10 can be calculated from the rotation angle of the storage tray motor 71, and can also be calibrated in conjunction with the instrument outer diameter, spiral pitch, and slot radius.

[0066] When the remote operating unit 13 is driven, the instrument storage tray 20 remains stationary, and the rotary disk motor 79 drives the drive wire rotary disk 30 to rotate relative to the instrument storage tray 20. Since the inner end of the outer tube 11 is fixed by the outer tube terminal 15, and the drive wire 12 is connected to the drive wire rotary disk 30 through the drive wire terminal 16 and the conductive connector 17, the rotation of the drive wire rotary disk 30 will change the effective path of the drive wire 12 in the first wire feeding groove 32 and the second wire feeding groove 33, causing the drive wire 12 to have axial displacement relative to the outer tube 11. Rotation in the first direction can unfold the operating unit 13, and rotation in the second direction can retract the operating unit 13. The arc-shaped boss 37 abuts against the end of the outwardly expanding arc-shaped groove 45 to form a mechanical limit, preventing the drive wire 12 from overtraveling.

[0067] During polyp removal, the electric snare is first transported to the target location by the receiving tray motor 71, and then the electric cutting coil and basket 14 are unfolded by the rotating tray motor 79. After adjusting the position, the electric cutting coil is placed around the target tissue, and the rotating tray motor 79 is driven in reverse to tighten the electric cutting coil. High-frequency electricity is then connected through the conductive connector 17 to complete the removal. The removed tissue falls into or is held in the basket 14, and then the receiving tray motor 71 drives the instrument receiving tray 20 in reverse to remove the flexible surgical instrument body 10 along with the tissue sample from the body. The transport, retrieval, and opening / closing actions are completed independently by two sets of drive components, and can also be coordinated and linked according to a preset speed if necessary.

[0068] The disassembly process of the disc-shaped flexible surgical instrument 1 is as follows: Stop both sets of rotary drive assemblies and place the distal operating part 13 in the safe retracted state. Drive the pin drive gear 60 to rotate in the unlocking direction. The conical protrusion 61 pushes the pin 58 radially outward, causing the pin 58 to disengage from the latch 42. The operator removes the disc-shaped flexible surgical instrument 1 axially. After releasing the pin drive gear 60, the pin 58 returns to the locked ready position under the action of the pin return spring 59.

[0069] In other embodiments, the spiral storage groove 21 can be formed on the front of the instrument storage tray 20, or it can be defined by the instrument storage tray 20 and the removable groove plate; its spiral direction can be clockwise or counterclockwise, and the groove spacing can be constant or gradually change according to the bending radius of the outer tube 11. The radial slot 43 can be fixed on the upper cover 40, or it can be formed by the upper cover 40 and the independent guide member. Any method can be used as long as the flexible surgical instrument body 10 is released and retrieved in a planar spiral path by the relative rotation between the disc-shaped members.

[0070] In other embodiments, the outer tube terminal 15 can be fixed by a slot, pressure plate, threaded connector, or rotary lock; the drive wire terminal 16 can be connected to the drive wire rotary disk 30 by a drive wire terminal slot 35, pin hole, clamping block, or crimping member. The conductive connector 17 can adopt a threaded crimping, spring contact, pin socket, or rotary electrical contact structure. For non-electrical devices, the conductive structure can be omitted and the mechanical fixing structure can be retained.

[0071] In other embodiments, the power transmission between the instrument storage tray 20 and the drive wire rotating disk 30 and the drive end is not limited to pin and slot connection, but can also adopt spline, end face teeth, friction disk, magnetic coupling or keyway fit. When an elastic docking structure is adopted, the elastic element can be a compression spring, spring sheet, elastic column or elastic material body; the docking element can be set on the instrument drive mechanism 50 or on the disc-shaped flexible surgical instrument 1.

[0072] In other embodiments, the locking assembly may employ a radial pin 58, an axial pin, a rotating retaining ring, a swinging pawl, or a resilient latch. The tapered protrusion 61 on the pin drive gear 60 may also be replaced by an eccentric cam, a groove, or a wedge, as long as it can convert circumferential motion into radial unlocking motion of the pin 58. The arc length of the rotation limiting groove 63 can be determined based on the effective working section of the tapered protrusion 61 to ensure synchronous release of all pins 58 within a minimum rotation angle.

[0073] In other embodiments, the pin drive motor 82, the receiving tray motor 71, and the rotary disk motor 79 can be servo motors, stepper motors, DC geared motors, or pneumatic rotary actuators. Gear transmission can also be replaced by synchronous belts, chain drives, worm gears, or direct drives. The first rotary drive assembly and the second rotary drive assembly can be independently controlled by a controller, and stroke protection can be achieved through mechanical limits, encoders, torque, or current feedback.

[0074] The above-described embodiments, through the combination of structures such as planar spiral cable storage, top cover fixed delivery, dual coaxial independent drive, flexible self-aligning interface, and quick-locking pin, simplify the disc-shaped consumable structure while achieving stable delivery and retrieval of the flexible surgical instrument body 10 and reliable drive of the remote operating unit 13. Any equivalent substitutions or conventional modifications made based on the concept of this invention should fall within the protection scope of this invention.

Claims

1. A disc-shaped flexible surgical instrument, characterized in that, The device includes a flexible surgical instrument body (10), an instrument storage tray (20), a top cover (40), and a drive wire rotating disc (30). The flexible surgical instrument body (10) includes an outer tube (11), a drive wire (12) passing through the outer tube (11), and an operating part (13) located at the distal end of the flexible surgical instrument body (10) and driven by the drive wire (12). One side of the instrument storage tray (20) is provided with a spiral storage groove (21) extending along a planar spiral line. The outer tube (11) is coiled and stored in the spiral storage groove (21), and the inner end of the outer tube (11) is fixed relative to the instrument storage tray (20). The top cover (40) covers the side of the instrument storage tray (20) where the spiral storage groove (21) is located, and is provided for the flexible surgical instrument body (10) to rotate. The flexible surgical instrument body (10) has a radial slot (43) through which the upper cover (40) and the instrument storage tray (20) can rotate relative to each other in the circumferential direction, so that the flexible surgical instrument body (10) can be transported outward or retracted inward through the radial slot (43); the drive wire rotating disk (30) is rotatably disposed in the central area of ​​the instrument storage tray (20), the inner end of the drive wire (12) extends out of the outer tube (11) and is limited between the drive wire rotating disk (30) and the instrument storage tray (20), and the drive wire (12) is connected to the drive wire rotating disk (30) in a transmission connection so that when the drive wire rotating disk (30) rotates relative to the instrument storage tray (20), it drives the drive wire (12) to move axially relative to the outer tube (11).

2. The disc-shaped flexible surgical instrument according to claim 1, characterized in that, The inner end of the outer tube (11) is provided with an outer tube terminal (15), and the inner end of the spiral receiving groove (21) is provided with an inner end limiting part (22) that cooperates with the outer tube terminal (15). The outer tube terminal (15) is snapped into the inner end limiting part (22).

3. The disc-shaped flexible surgical instrument according to claim 2, characterized in that, The drive wire rotary disk (30) has a stepped outer edge (31). The outer circumferential surface behind the stepped outer edge (31) is provided with a first wire feeding groove (32). The drive wire rotary disk (30) facing the upper cover (40) is provided with a second wire feeding groove (33) extending from the stepped outer edge (31) towards the center. The stepped outer edge (31) is provided with a notch (34) connecting the first wire feeding groove (32) and the second wire feeding groove (33). The inner end of the drive wire (12) is sequentially accommodated in the first wire feeding groove (32), the notch (34) and the second wire feeding groove (33).

4. The disc-shaped flexible surgical instrument according to claim 3, characterized in that, The second wire feeding groove (33) is arc-shaped, and a drive wire terminal groove (35) is provided in the second wire feeding groove (33). A drive wire terminal (16) is fixed on the drive wire (12), and the drive wire terminal (16) is embedded in the drive wire terminal groove (35).

5. The disc-shaped flexible surgical instrument according to claim 4, characterized in that, The outer edge (31) of the stepped structure axially covers the portion of the outer tube terminal (15) and the drive wire (12) extending out of the outer tube (11) to limit the radial runout of the outer tube terminal (15) and the drive wire (12).

6. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The center of the drive wire rotating disk (30) is provided with an internal threaded sleeve (36). The disc-shaped flexible surgical instrument also includes a conductive connector (17), which is threadedly connected to the internal threaded sleeve (36) and presses and fixes the inner end of the drive wire (12) to the drive wire rotating disk (30).

7. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The drive wire rotating disk (30) is provided with an arc-shaped boss (37). The upper cover (40) is provided with a circular recess (44) and an outwardly expanding arc-shaped groove (45) communicating with the circular recess (44) on the side facing the drive wire rotating disk (30). The arc-shaped boss (37) is movably accommodated in the outwardly expanding arc-shaped groove (45) and the rotation angle of the drive wire rotating disk (30) is limited by abutting against the circumferential end of the outwardly expanding arc-shaped groove (45).

8. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The periphery of the upper cover (40) is provided with a plurality of hooks (41) and a plurality of buckles (42). The hooks (41) engage with the instrument storage tray (20) to axially limit the drive wire rotating disk (30) between the upper cover (40) and the instrument storage tray (20); the buckles (42) are used to cooperate with the locking parts of the external drive mechanism.

9. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The radial slot (43) is an elongated hole extending radially along the upper cover (40).

10. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The operating part (13) includes an electric cutting coil and a wire basket (14) connected to the electric cutting coil. The drive wire (12) is used to drive the electric cutting coil and the wire basket (14) to unfold or retract relative to the outer tube (11).

11. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The instrument storage tray (20) has an annular protrusion (25) on the side opposite to the spiral storage groove (21). The annular protrusion (25) has multiple notches (26) spaced apart, and the notches (26) form a first elastic docking groove (24) for transmission connection with an external drive mechanism.

12. The disc-shaped flexible surgical instrument according to any one of claims 1 to 5, characterized in that, The drive wire rotary disk (30) is provided with at least two second elastic docking holes (38) on the side opposite to the upper cover (40). The second elastic docking holes (38) are used to be detachably inserted with the elastic docking parts of the external drive mechanism.

13. A surgical instrument device, characterized in that, The device includes a disc-shaped flexible surgical instrument (1) as described in any one of claims 1 to 12 and an instrument drive mechanism (50); the instrument drive mechanism (50) includes a frame (51), a snap-fit ​​assembly for fixing the upper cover (40) to the frame (51), a first rotary drive assembly for being detachably and driveably connected to the instrument storage tray (20), and a second rotary drive assembly for being detachably and driveably connected to the drive wire rotating disk (30); the first rotary drive assembly and the second rotary drive assembly are capable of rotating independently of each other to drive the instrument storage tray (20) to rotate relative to the upper cover (40) and drive the drive wire rotating disk (30) to rotate relative to the instrument storage tray (20), respectively.

14. The surgical instrument device according to claim 13, characterized in that, The upper cover (40) has multiple buckles (42) around its periphery; the frame (51) includes a base (52) and an annular support (53) disposed on the base (52); the snap-fit ​​assembly includes an outer ring limiting support frame (54) fixed to the annular support (53), a large bearing (55) disposed in the outer ring limiting support frame (54), a bearing cover plate (56) constraining the large bearing (55), and multiple pins (58) arranged circumferentially along the bearing cover plate (56), the pins (58) being able to snap with the buckles (42).

15. The surgical instrument device according to claim 14, characterized in that, Each of the pins (58) is radially telescopically mounted on the pin seat via a pin return spring (59). The snap-fit ​​assembly also includes a pin drive gear (60) coaxially sleeved on the outside of the outer ring limiting support frame (54). The outer periphery of the pin drive gear (60) is provided with a conical protrusion (61) corresponding to each of the pins (58). When the pin drive gear (60) rotates, the conical protrusion (61) pushes the pin (58) to move outward against the elastic force of the pin return spring (59), so that the pin (58) disengages from the buckle (42).

16. The surgical instrument device according to claim 15, characterized in that, The pin (58) is L-shaped and includes a pin head extending radially and a pin arm extending axially. The pin arm abuts against the conical protrusion (61). The side of the pin head facing the disc-shaped flexible surgical instrument (1) is provided with an inlet slope.

17. The surgical instrument device according to claim 15, characterized in that, The inner circumference of the pin drive gear (60) is provided with a rotation limiting block (62), and the outer circumference of the outer ring limiting support frame (54) is provided with a rotation limiting groove (63). One end of the rotation limiting groove (63) is provided with an opening (64) for the rotation limiting block (62) to enter. The rotation limiting block (62) and the rotation limiting groove (63) cooperate to limit the rotation angle of the pin drive gear (60).

18. The surgical instrument device according to claim 14, characterized in that, The upper cover (40) is also provided with a plurality of hooks (41) around its periphery. The front end face of the bearing cover plate (56) is provided with hook grooves (57) corresponding to the number of hooks (41). The hooks (41) are embedded in the hook grooves (57) to restrict the upper cover (40) from rotating circumferentially relative to the frame (51).

19. The surgical instrument device according to claim 14, characterized in that, The instrument storage tray (20) has a first elastic docking groove (24) on the side opposite to the spiral storage groove (21); the first rotary drive assembly includes a bearing inner support (65) installed inside the large bearing (55), a plurality of first elastic docking parts (66) disposed on the front end face of the bearing inner support (65), a storage tray rotary drive gear (69) connected to the rear end of the bearing inner support (65), a first pinion (70) meshing with the storage tray rotary drive gear (69), and a storage tray motor (71) driving the first pinion (70). The first elastic docking parts (66) and the first elastic docking groove (24) can be detachably inserted.

20. The surgical instrument device according to claim 19, characterized in that, The drive wire rotary disk (30) has at least two second elastic docking holes (38) on the side away from the upper cover (40); the second rotary drive assembly includes a rotary drive plate (72) mounted on the inner side of the bearing inner bracket (65) via a small bearing (73), at least two second elastic docking parts (74) disposed on the front end face of the rotary drive plate (72), a rotary disk drive gear (77) connected to the rear end of the rotary drive plate (72), a second pinion (78) meshing with the rotary disk drive gear (77), and a rotary disk motor (79) driving the second pinion (78). The second elastic docking parts (74) are detachably inserted into the second elastic docking holes (38).

21. The surgical instrument device according to claim 20, characterized in that, The first elastic docking member (66) includes a first pin (67) and a first spring (68), and the second elastic docking member (74) includes a second pin (75) and a second spring (76). Both the first pin (67) and the second pin (75) are capable of elastic extension and retraction along the axial direction. When the corresponding elastic docking member is not aligned with the corresponding elastic docking groove or elastic docking hole, the first pin (67) or the second pin (75) is in a retracted state, and after the corresponding rotary drive assembly rotates to the alignment position, it is pushed into the corresponding elastic docking groove or elastic docking hole by the elastic force.

22. The surgical instrument device according to claim 20, characterized in that, The first rotary drive assembly and the second rotary drive assembly are coaxially arranged, and the storage disk motor (71) and the rotary disk motor (79) are independently controlled so that the conveying and retrieval action of the disc-shaped flexible surgical instrument (1) is independent of the opening and closing action of the operating part (13).

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