Surgical instrument unit, instrument delivery mechanism, and surgical instrument

Abstract

The application relates to a surgical instrument unit, an instrument conveying mechanism and a surgical instrument. The surgical instrument unit comprises a flexible instrument body, a storage disc and a cover plate. The flexible instrument body comprises a driving wire and a sleeve arranged outside the driving wire. The storage disc is provided with a coiled portion, the flexible instrument body is spirally coiled on the coiled portion in a plane parallel to the storage disc, and the storage disc can rotate relative to the cover plate to release or retract the flexible instrument body coiled on the coiled portion. The cover plate is provided with an outlet portion and a guide portion. The guide portion is provided with a guide hole, the guide hole and the outlet portion are arranged in sequence along the conveying direction of the flexible instrument body to jointly define a path for the flexible instrument body to output to the outside, and the guide portion can move relative to the cover plate along the extension direction of the outlet portion. In this way, the flexible instrument body of the surgical instrument unit can be orderly stored and conveyed, and the smoothness of instrument release and recovery is effectively improved.

Description

Technical Field

[0001] This application relates to the field of surgical instrument technology, specifically to a surgical instrument unit, an instrument delivery mechanism, and a surgical instrument. Background Technology

[0002] Flexible surgical instruments can be used for interventional diagnosis and treatment through natural body cavities, blood vessels, or other interventional channels, and are widely used in the diagnosis and treatment of diseases of the digestive, respiratory, urinary, and vascular systems. Compared with traditional open surgery, interventional therapy has the advantages of less trauma, less bleeding, and faster postoperative recovery.

[0003] Most existing surgical instruments are designed for manual operation, and their use typically involves multiple steps such as unfolding, organizing, transporting, and retrieving the instruments. Furthermore, these flexible and slender instruments may come into contact with contaminants such as blood and tissue fluid during surgery, and may carry internal contaminants during retrieval. Therefore, this places high demands on the proper storage and protection of instruments.

[0004] Furthermore, the overall length of flexible instruments is relatively long, and there is a lack of convenient and orderly storage and transportation methods before and after surgery. They are prone to scattering, tangling, local bending, or interference with surrounding structures, which affects the smoothness of instrument release and retrieval. Summary of the Invention

[0005] The purpose of this application is to provide a surgical instrument unit, an instrument delivery mechanism, and surgical instruments, which can orderly store and deliver the flexible instrument body of the surgical instrument unit, effectively improving the smoothness of instrument release and retrieval.

[0006] To address the aforementioned technical problems, this application provides a surgical instrument unit, comprising a flexible instrument body, a receiving tray, and a cover plate. The flexible instrument body includes a drive wire and a sleeve fitted over the drive wire. The receiving tray has a coiling portion on one side of its surface facing the cover plate. The flexible instrument body is spirally coiled around the coiling portion in a plane parallel to the receiving tray. The receiving tray is rotatable relative to the cover plate to release or retract the flexible instrument body coiled around the coiling portion. The cover plate has an outlet portion extending radially. The cover plate also has a guide portion on one side of its surface away from the receiving tray. The guide portion has a guide hole. The guide hole and the outlet portion are arranged sequentially along the conveying direction of the flexible instrument body to jointly define the path for the flexible instrument body coiled around the coiling portion to be output to the outside. The guide portion is movable relative to the cover plate along the extension direction of the outlet portion.

[0007] Optionally, the coiling part is a planar spiral groove disposed on the surface of the storage tray. The planar spiral groove extends from the inner circumference of the storage tray to the outer circumference in turn, and the groove segments of adjacent turns are arranged at radial intervals along the storage tray.

[0008] Optionally, the cover plate is provided with a slide in the radial direction, the slide is parallel to the extension direction of the outlet, and the guide is slidably disposed in the slide.

[0009] Optionally, the inner end of the sleeve is provided with a sleeve terminal, and the storage tray is provided with a terminal groove communicating with the winding portion. The sleeve terminal is embedded in the terminal groove to restrict the movement of the inner end of the sleeve relative to the storage tray.

[0010] Optionally, it also includes a turntable connected to the inner end of the drive wire, the receiving tray having an annular structure and located on the outer periphery of the turntable, and the inner end of the sleeve connected to the center side of the receiving tray; the turntable is rotatable relative to the receiving tray to drive the drive wire to move axially relative to the sleeve.

[0011] Optionally, the turntable is provided with a slot, a buckle, and a guide groove. The guide groove extends from the outer periphery of the turntable toward the center of the turntable. The inner end of the drive wire is at least partially located in the guide groove. The inner end of the drive wire is provided with a snap-fit ​​terminal. The snap-fit ​​terminal is located in the slot and is limited by the buckle to prevent the snap-fit ​​terminal from disengaging from the turntable.

[0012] Optionally, it further includes a bevel gear section, which includes a first bevel gear and a second bevel gear. The axis of the first bevel gear is parallel to the axis of the turntable, and the axis of the second bevel gear is perpendicular to the axis of the turntable. The second bevel gear is connected to the inner end of the drive wire. When the first bevel gear rotates, it can drive the drive wire to rotate relative to the sleeve through the second bevel gear.

[0013] Optionally, the end of the second bevel gear is provided with a socket, the inner end of the drive wire is provided with a plug-in terminal, the plug-in terminal extends out of the inner end of the guide groove and is plugged into the socket, and the socket and the plug-in terminal are respectively provided with mutually compatible rotation limiting structures.

[0014] Optionally, the inner edge of the turntable is further provided with a limiting groove, and the plug-in terminal portion is located in the limiting groove to restrict the plug-in terminal from moving into the guide groove until it disengages from the socket.

[0015] This application also provides an instrument delivery mechanism for delivering a flexible instrument body of a surgical instrument unit as described above; the instrument delivery mechanism includes a base and a drive mechanism and an actuation component disposed on the base; the drive mechanism includes a first drive part, which is throttle-connected to the storage tray; the actuation component is throttle-connected between the first drive part and the guide part, so that the guide part moves synchronously along the radial direction of the cover plate as the storage tray rotates.

[0016] Optionally, the actuation component includes a gear assembly, a lead screw, and a slider. The first drive unit can drive the lead screw to rotate through the gear assembly. The lead screw is parallel to the extension direction of the outlet. The slider has a threaded hole and is threadedly engaged with the lead screw. One of the slider and the guide part has a slot, and the other has an insertion protrusion. The insertion protrusion is inserted into the slot. The slot is arranged along the axial direction of the cover plate.

[0017] Optionally, the thread pitch of the lead screw is equal to the thread pitch of the winding portion, and the gear assembly drives the lead screw to rotate one revolution for every revolution the first driving unit drives the storage disk to rotate.

[0018] Optionally, the surgical instrument unit further includes a turntable connected to the inner end of the drive wire, a storage tray having an annular structure and disposed on the outer periphery of the turntable, and the center side of the storage tray connected to the inner end of the sleeve; the driving mechanism further includes a second driving part for transmission connection with the turntable, enabling the turntable to rotate relative to the storage tray, thereby driving the drive wire to move axially relative to the sleeve.

[0019] Optionally, the surgical instrument unit further includes a bevel gear section, which includes a first bevel gear and a second bevel gear. The axis of the first bevel gear is parallel to the axis of the turntable, and the axis of the second bevel gear is perpendicular to the axis of the turntable. The second bevel gear is connected to the inner end of the drive wire. The drive mechanism further includes a third drive section, which is used to drive the first bevel gear to rotate and drive the drive wire to rotate relative to the sleeve through the second bevel gear.

[0020] Optionally, the first driving unit includes a first motor, a first gear set, and an outer cylinder. The upper end of the outer cylinder is provided with a first elastic docking structure for detachable transmission connection with the storage tray. The second driving unit includes a second motor, a second gear set, and an inner cylinder. The upper end of the inner cylinder is provided with a second elastic docking structure for detachable transmission connection with the turntable. The third driving unit includes a third motor, a third gear set, and a rotating shaft. The top end of the rotating shaft is provided with a third elastic docking structure for detachable transmission connection with the first bevel gear. The base includes a base plate and a support cylinder. The first motor, the second motor, and the third motor are disposed on the base plate. The first gear set, the second gear set, and the third gear set are disposed on the side of the base plate away from the support cylinder. The outer cylinder, the inner cylinder, and the rotating shaft are coaxially arranged inside the support cylinder from the outside to the inside.

[0021] Optionally, at least one of the first drive unit, the second drive unit, and the third drive unit is connected to an encoder, which is used to detect the rotational position of the corresponding drive unit.

[0022] Optionally, the base is provided with at least three snap-fit ​​parts along the circumference, and the cover plate is provided with snap-fit ​​structures corresponding to each of the snap-fit ​​parts, wherein the snap-fit ​​parts are snap-fitted into the corresponding snap-fit ​​structures.

[0023] This application also provides a surgical instrument, including the surgical instrument unit as described above and the instrument delivery mechanism as described above, wherein the surgical instrument unit and the instrument delivery mechanism are detachably connected.

[0024] The surgical instrument unit, instrument delivery mechanism, and surgical instrument provided in this application have the following technical advantages: The flexible instrument body is coiled in a planar manner within a storage tray, forming a disc-like structure. This reduces the axial dimensions of the surgical instrument unit, enabling a flattened and compact arrangement of the instrument units, facilitating packaging, storage, and transportation. The storage tray can rotate relative to the cover plate, allowing the portion of the flexible instrument body located within the coiled section to be released or retracted sequentially in a plane parallel to the storage tray. This helps reduce the likelihood of the flexible instrument body becoming scattered, tangled, squeezed against each other, or partially bent, achieving orderly storage and transport of the flexible instrument body.

[0025] As the receiving tray rotates, the output point of the flexible instrument body, which leaves the winding section, moves radially along the receiving tray, circle by circle. The guide section can move along the extension direction of the outlet section, thereby adjusting the position of the guide hole according to the actual position of the flexible instrument body's output point. This allows the output path, defined by the guide hole and the outlet section, to adapt to the radial changes in the output point of the flexible instrument body. Consequently, the degree of skewness and bending of the flexible instrument body at the outlet section can be reduced, lowering the risk of friction, jamming, or excessive bending between the flexible instrument body and structures such as the cover plate, and improving the smoothness and reliability of the release and retrieval of the flexible instrument body. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the assembly structure of the surgical instrument unit provided in the embodiments of this application; Figure 2 yes Figure 1 Exploded view; Figure 3 yes Figure 2 Schematic diagram of the structure of the flexible medical device body; Figure 4 This is a cross-sectional view of the flexible device body; Figure 5 This is a schematic diagram of the guide section; Figure 6 yes Figure 2 A schematic diagram of the turntable structure in the middle; Figure 7 This is a structural schematic diagram of the surgical instrument unit from another perspective; Figure 8 This is a schematic diagram of the surgical instrument provided in the embodiments of this application; Figure 9 This is a schematic diagram of the structure of the instrument delivery mechanism provided in the embodiments of this application; Figure 10 This is a top view of the instrument delivery mechanism; Figure 11 yes Figure 10 Sectional view of AA; Figure 12 This is a schematic diagram of the transmission structure of the instrument conveying mechanism; Figure 13 This is a schematic diagram of the rotating shaft; Figure 14 This is a schematic diagram of the instrument delivery mechanism from another perspective.

[0027] Appendix Figures 1-14 The reference numerals in the attached figures are explained as follows: 1. Base; 11. Base plate; 12. Support cylinder; 13. Snap-fit ​​part; 14. Support leg; 2. Storage tray; 21. Winding section; 22. Terminal slot; 23. First mating part; 3. Cover plate; 31. Outlet section; 32. Guide section; 321. Guide hole; 322. Insertion protrusion; 323. Slide groove; 33. Slide track; 34. Snap-fit ​​structure; 4. Motion assembly; 41. Gear assembly; 411. First gear; 412. Third bevel gear; 413. Fourth bevel gear; 414. Second gear; 415. Third gear; 42. Lead screw; 43. Slider; 431. Slot; 5. Turntable; 51. Slot; 52. Limiting slot; 53. Buckle; 54. Guide slot; 55. Second mating part; 6. Bevel gear section; 61. First bevel gear; 611. Third mating part; 62. Second bevel gear; 621. Insertion hole; 71 First bearing; 72 Second bearing; 8 encoders; 9. Bearing end caps; S1 First drive unit; S11 First motor; S12 First gear set; S121 First drive gear; S122 First transmission gear; S13 Outer cylinder; S131 First elastic docking structure; S2 Second drive unit; S21 Second motor; S22 Second gear set; S221 Second drive gear; S222 Second transmission gear; S23 Inner cylinder; S231 Second elastic docking structure; S3 Third Drive Unit; S31 Third Motor; S32 Third Gear Set; S321 Third Drive Gear; S322 Third Transmission Gear; S33 Rotating Shaft; S331 Third Flexible Connecting Structure; 10 Flexible instrument body; 101 Drive wire; 1011 Insertion terminal; 1012 Snap-fit ​​terminal; 102 Sleeve; 1021 Sleeve terminal; 103 Outer end. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] This application provides a surgical instrument unit, an instrument delivery mechanism, and a surgical instrument. The surgical instrument includes a surgical instrument unit and an instrument delivery mechanism. The surgical instrument unit serves as an instrument-side component that contacts the patient, endoscope, or interventional channel. The instrument delivery mechanism serves as a drive-side component that provides power and guidance. The surgical instrument unit and the instrument delivery mechanism are detachably connected. With this configuration, the surgical instrument unit is provided separately as a disposable or replaceable consumable and can be replaced according to disinfection, sterilization, and clinical use requirements. The instrument delivery mechanism is reusable, which helps reduce the cost and medical waste caused by the disposal of drive components along with the instrument.

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the surgical instrument unit includes a flexible instrument body 10, which includes a drive wire 101 and a sheath 102 sleeved over the drive wire 101. The sheath 102 serves as the outer sheath of the flexible instrument. The drive wire 101 extends along the inner lumen of the sheath 102, and the outer end 103 of the flexible instrument body 10 is used to insert into human cavities for diagnostic and therapeutic operations. The drive wire 101 can be linked with the functional ends of the flexible instrument (such as jaws, injection ends, electrical terminals, etc.). By pushing, pulling, and rotating the drive wire 101, actions such as opening and closing, feeding, and orientation of the ends can be achieved.

[0031] The surgical instrument unit is used to systematically store the flexible instrument body 10 and carry the drive transmission interface. The instrument delivery mechanism is used to provide driving force to the surgical instrument unit to drive the flexible instrument body 10 to achieve multiple degrees of freedom of movement. The flexible instrument body 10 includes, but is not limited to, digestive endoscopy instruments (such as biopsy forceps, snares, injection needles, hemostatic clips, incision knives, electrocautery knives, etc.), vascular interventional surgical instruments (such as guidewires, catheters, etc.), and bronchial interventional surgical instruments (such as biopsy forceps, cell brushes, etc.), etc., which are flexible, slender instruments that can move along the body's natural cavities, blood vessels, or other interventional channels.

[0032] The surgical instrument unit provides three degrees of freedom for the flexible instrument body 10: overall transport and retraction of the cannula 102 (outer sheath) along its own axis; axial push-pull of the drive wire 101 relative to the cannula 102; and circumferential rotation of the drive wire 101 relative to the cannula 102. The instrument delivery mechanism drives these three degrees of freedom respectively and synchronously guides the output path of the cannula 102 during transport and retraction, while simultaneously achieving detachable snap-fit ​​fixation of the surgical instrument unit.

[0033] like Figure 1 and Figure 2 As shown, the surgical instrument unit also includes a storage tray 2 and a cover plate 3. The storage tray 2 has a coiling portion 21 on its surface facing the cover plate 3. The flexible instrument body 10 is spirally coiled around the coiling portion 21 in a spiral shape (planar helix) in a plane parallel to the storage tray 2. The storage tray 2 can rotate relative to the cover plate 3 about its axis, so that the flexible instrument body 10 coiled around the coiling portion 21 can be released or retracted one turn at a time.

[0034] With this configuration, the flexible instrument body 10 is coiled in a planar manner within the storage tray, forming a disc-shaped structure. This helps reduce the axial dimensions of the surgical instrument unit, enabling a flattened and compact arrangement of the surgical instrument unit, facilitating packaging, storage, and transportation. The storage tray 2 can rotate relative to the cover plate, allowing the portion of the flexible instrument body 10 located within the coiled section 21 to be released or retracted sequentially in a plane parallel to the storage tray 2. This helps reduce the likelihood of the flexible instrument body 10 becoming scattered, tangled, squeezed against each other, or partially bent, achieving orderly storage and transport of the flexible instrument body 10.

[0035] Furthermore, the surgical instrument unit is provided separately as a disposable or replaceable consumable. Therefore, the small size and low material consumption of the surgical instrument unit can effectively reduce surgical costs.

[0036] For ease of explanation, the direction in which the flexible instrument body 10 is output from the surgical instrument unit towards the patient or endoscope is referred to as the output direction or outer end direction, and the opposite direction is referred to as the inner end direction. The side of the cover plate 3 away from the receiving tray 2 is referred to as the upper side, and the side facing the receiving tray 2 is referred to as the lower side. The above orientations are only used to describe the relative relationships between the various structures and do not constitute a limitation on the actual installation direction of the surgical instrument unit and the instrument delivery mechanism.

[0037] The coiling portion 21 can be a planar spiral groove provided on the surface of the receiving tray 2. The planar spiral groove extends from the inner circumference of the receiving tray 2 to the outer circumference in turn, and the groove segments of adjacent turns are arranged at radial intervals along the receiving tray 2. The flexible instrument body 10 is embedded in the planar spiral groove and is limited by turn by turn. In this configuration, the planar spiral groove forms a reliable radial limit for the flexible instrument body 10, avoiding mutual interference or jumping out between adjacent turns. Furthermore, the groove of the planar spiral can collect contaminants adhering to the periphery of the sleeve 102 into the groove during instrument retrieval, preventing contaminants from contaminating other devices outside the receiving tray 2, thereby reducing the risk of contamination and cross-contamination.

[0038] The cross-section of the planar spiral groove can be U-shaped, arc-shaped, rectangular, trapezoidal, etc. The groove depth can be less than, equal to, or greater than the outer diameter of the flexible instrument body 10. When the groove depth is less than the outer diameter of the flexible instrument body 10, the cover plate 3 can provide axial restraint for the flexible instrument body 10. When the groove depth is greater than the outer diameter of the flexible instrument body 10, a pressing flange, elastic teeth, or a limiting cover strip can be provided locally at the groove opening to prevent the flexible instrument body 10 from falling out when the receiving tray 2 rotates at high speed or is subjected to a rebound force.

[0039] Of course, in this embodiment, the structure of the coiling part 21 is not limited. For example, it can also be a spiral protrusion provided on the surface of the storage tray 2 facing the cover plate 3. The spiral protrusion can be a continuous structure arranged in a spiral or multiple protrusion structures arranged at intervals along the spiral path. The flexible device body 10 can be wound around the spiral protrusion in sequence.

[0040] When the receiving tray 2 rotates along the first circumferential direction, the flexible instrument body 10 located within the winding section 21 is released outward from the outlet section 31. When the receiving tray 2 rotates in the opposite direction, the flexible instrument body 10 re-enters the winding section 21 and retracts along a predetermined spiral trajectory. Since the winding section 21 directly defines the arrangement position of the flexible instrument body 10 in the plane, the coils are less likely to cross or entangle with each other, thus improving the consistency of the release and retraction process. The rotational speed of the receiving tray 2 can be adjusted according to the resistance encountered when the flexible instrument body 10 enters the endoscope channel to obtain a stable transport speed.

[0041] like Figure 1 and Figure 2 As shown, the cover plate 3 has an outlet portion 31 extending in the radial direction. The outlet portion 31 is a strip-shaped hole that penetrates the thickness direction of the cover plate 3, and its inner end communicates with the coiling area of ​​the receiving tray 2. As the flexible device body 10 disengages from different positions of the coiling portion 21, the position where the flexible device body 10 intersects with the cover plate 3 will change radially, and the radial extension of the outlet portion 31 can provide clearance for the above-mentioned positional changes.

[0042] A guide portion 32 is provided on the side of the cover plate 3 away from the receiving tray 2. The guide portion 32 has a guide hole 321. The outlet portion 31 and the guide hole 321 are arranged sequentially along the output direction of the flexible instrument body 10. After the flexible instrument body 10 is detached from the coiling portion 21, it first passes through the outlet portion 31, then through the guide hole 321 and extends outward. The guide hole 321 can radially and circumferentially constrain the flexible instrument body 10 after it leaves the disc-shaped space, so that the flexible instrument body 10 enters the endoscope instrument channel or other external guide channels in a more stable posture.

[0043] The guide hole 321 can be a round hole, an elliptical hole, an oblong hole, or a through hole with a low-friction bushing, with a diameter larger than the outer diameter of the sleeve 102 to allow the flexible instrument body 10 to move smoothly in and out. The inlet and outlet sides of the guide hole 321 can be provided with rounded corners, flared openings, or rollers to reduce the contact stress of the flexible instrument body 10 at bending positions. The guide part 32 can also be connected to a section of protective tube or a two-way connector to further restrict the bending posture of the outer end 103 and facilitate docking with the endoscope instrument inlet.

[0044] Because the flexible device body 10 is coiled in a planar spiral shape, as the receiving disk 2 rotates, the output point of the flexible device body 10 leaving the coiling part 21 moves radially along the receiving disk 2, circle by circle. The guide part 32 can move along the extension direction of the outlet part 31, thereby adjusting the position of the guide hole 321 according to the actual position of the output point of the flexible device body 10, so that the output path jointly defined by the guide hole 321 and the outlet part 31 adapts to the radial change of the output point of the flexible device body 10. As a result, the degree of skewness and bending of the flexible device body 10 at the outlet part 31 can be reduced, the risk of friction, jamming or excessive bending between the flexible device body 10 and structures such as the cover plate 3 can be reduced, and the smoothness and reliability of the release and retrieval of the flexible device body 10 can be improved.

[0045] like Figure 1 and Figure 2 As shown, the cover plate 3 is provided with a slide 33 in the radial direction, the slide 33 being parallel to the extending direction of the outlet portion 31, and the guide portion 32 being slidably disposed in the slide 33. Figure 5 As shown, the guide portion 32 may be provided with a groove 323 that mates with the slide rail 33, so that the guide portion 32 can only move along the slide rail 33 and is not easily rotated relative to the cover plate 3. The slide rail 33 is preferably a dovetail guide rail. The dovetail fit can simultaneously restrict the axial disengagement and circumferential wobble of the guide portion 32, improving the positional stability of the guide hole 321. The slide rail 33 is not limited to a dovetail guide rail, and can also be a T-shaped guide rail, a rectangular slide rail, a cylindrical guide rod, a crossed roller guide rail, or other linear guide structures.

[0046] Alternatively, the guide section 32 may be equipped with a sliding member, and the cover plate 3 may be provided with a sliding groove, allowing the sliding member to slide along the groove. A wear-resistant bushing, a self-lubricating material layer, or a rolling element may also be provided between the guide section 32 and the slide 33 to reduce reciprocating movement resistance.

[0047] like Figure 2 and Figure 3 As shown, the inner end of the sleeve 102 is provided with a sleeve terminal 1021, and the receiving tray 2 is provided with a terminal groove 22 communicating with the winding part 21. The sleeve terminal 1021 is embedded in the terminal groove 22 to restrict the movement of the inner end of the sleeve 102 relative to the receiving tray 2. With this configuration, the inner end of the sleeve 102 is fixed to the receiving tray 2. When the receiving tray 2 rotates relative to the cover plate 3, the sleeve 102 is continuously fed out or retracted along the winding part 21 as the receiving tray 2 rotates, thereby realizing the overall freedom of conveying and retracting of the sleeve 102. Of course, the sleeve terminal 1021 and the terminal groove 22 can also be fixed by snap-fit, interference fit, or thread, etc., to further improve the connection reliability.

[0048] like Figure 2As shown, the surgical instrument unit also includes a turntable 5, which is connected to the inner end of the drive wire 101. The receiving tray 2 is an annular structure located on the outer periphery of the turntable 5, and the inner end of the sleeve 102 is connected to the center of the receiving tray 2. The turntable 5 can rotate relative to the receiving tray 2, driving the drive wire 101 to move within the sleeve 102. In other words, the turntable 5 is installed in the circular hole at the center of the receiving tray 2, the inner end of the sleeve 102 of the flexible instrument body 10 is fixed to the center of the receiving tray 2, and the inner end of the drive wire 101 extends to the turntable 5 and is linked to the turntable 5. When the turntable 5 rotates relative to the receiving tray 2, it can drive the drive wire 101 to move axially back and forth (push-pull) relative to the sleeve 102, thereby realizing the back-and-forth pushing-pull freedom of the drive wire 101. This configuration decouples the fixing of the sleeve 102 (storage tray 2) from the driving of the drive wire 101 (turntable 5) into two relatively rotatable components, so that the overall conveying of the sleeve 102 and the pushing and pulling of the drive wire 101 do not interfere with each other, making it easy to drive them independently.

[0049] like Figure 6 As shown, the turntable 5 is provided with a slot 51, a latch 53, and a guide groove 54. The guide groove 54 extends from the outer periphery of the turntable 5 towards the center of the turntable 5. The inner end of the drive wire 101 is at least partially located within the guide groove 54. The inner end of the drive wire 101 is provided with a snap-fit ​​terminal 1012. The snap-fit ​​terminal 1012 is located within the slot 51 and is limited by the latch 53 to prevent the snap-fit ​​terminal 1012 from disengaging from the turntable 5.

[0050] After the drive wire 101 is led out from the inner circumference of the winding part 21, the inner end of the drive wire 101 extends along the guide groove 54 from the outer circumference of the turntable 5 towards the center of the turntable 5. The snap-fit ​​terminal 1012 is snapped into the snap-fit ​​groove 51 and is locked and limited by the snap-fit ​​buckle 53 to prevent the snap-fit ​​terminal 1012 from detaching from the turntable 5. The snap-fit ​​buckle 53 can be integrally formed with the turntable 5, or it can be a detachable pressure plate, an elastic snap spring, or a rotary locking component. With this configuration, when the turntable 5 rotates, the snap-fit ​​terminal 1012 moves circumferentially with the turntable 5. Since the snap-fit ​​terminal 1012 is constrained by the guide groove 54, its circumferential movement is converted into the axial push-pull movement of the drive wire 101, thereby realizing the back-and-forth push-pull drive of the drive wire 101.

[0051] The snap-fit ​​terminal 1012 is rotatable relative to the turntable 5 about the axis of the drive wire 101, allowing the turntable 5 to transmit axial push-pull force to the drive wire 101 without hindering the drive wire 101 from performing its own circumferential rotation. The snap-fit ​​terminal 1012 can be cylindrical or spherical and is accommodated in the slot 51. The latch 53 only restricts its movement along the extension direction and disengagement direction of the drive wire 101, without restricting its rotation about its own axis.

[0052] When the turntable 5 rotates relative to the receiving tray 2 in one direction, the snap-fit ​​terminal 1012 rotates with the turntable 5, driving the drive wire 101 to move relative to the sleeve 102 in one direction; when the turntable 5 rotates in the opposite direction, the drive wire 101 moves in the opposite direction. By controlling the rotation angle of the turntable 5, the axial displacement of the drive wire 101 can be controlled, thereby driving the jaws, collars, needle cores, or other actuators at the distal end of the flexible instrument body 10 to open, close, extend, or bend.

[0053] like Figure 1 and Figure 2 As shown, the surgical instrument unit also includes a bevel gear section 6, which includes a first bevel gear 61 and a second bevel gear 62. The axis of the first bevel gear 61 is parallel to the axis of the turntable 5, and the axis of the second bevel gear 62 is perpendicular to the axis of the turntable 5. The second bevel gear 62 is connected to the inner end of the drive wire 101. When the first bevel gear 61 rotates, it can drive the drive wire 101 to rotate relative to the sleeve 102 through the second bevel gear 62.

[0054] In other words, the first bevel gear 61 and the second bevel gear 62 are installed at the center of the turntable 5 and mesh with each other. The axis of the first bevel gear 61 is arranged along the axial direction (vertical direction) of the receiving plate 2, and the axis of the second bevel gear 62 is arranged in the horizontal direction. The inner end of the drive wire 101 extends along the guide groove 54 to the center of the turntable 5 and then connects with the second bevel gear 62. When the first bevel gear 61 rotates around the vertical axis, it can drive the second bevel gear 62 to rotate around the horizontal axis, thereby driving the drive wire 101 to rotate relative to the sleeve 102 around its own axis, thus realizing the circumferential rotational freedom of the drive wire 101.

[0055] With this configuration, the rotation from the vertical direction is converted into the circumferential rotation of the drive wire 101 through the meshing and reversing of a pair of bevel gears. The structure is compact and facilitates the centralized arrangement of the drive interface on the central side of the surgical instrument unit and its docking with the instrument delivery mechanism.

[0056] like Figure 2 and Figure 3 As shown, the end of the second bevel gear 62 is provided with a socket 621, and the inner end of the drive wire 101 is provided with a plug terminal 1011. The plug terminal 1011 extends out of the inner end of the guide groove 54 and is plugged into the socket 621. The socket 621 and the plug terminal 1011 are respectively provided with mutually compatible rotation limiting structures so that the two rotate synchronously.

[0057] The rotation limiting structure can be a rotation limiting plane, or it can be a limiting protrusion or a limiting groove, etc. For example, the insertion hole 621 can be a square hole located at the center of the second bevel gear 62, and the insertion terminal 1011 can be a square columnar terminal adapted to the square hole, or the cross-section of the insertion hole 621 and the insertion terminal 1011 can be D-shaped, elliptical, polygonal, or spline, etc. After the insertion terminal 1011 is inserted into the insertion hole 621, the rotation of the second bevel gear 62 can be reliably transmitted to the drive wire 101 through the rotation limiting structure, avoiding relative slippage between the two, ensuring the accuracy of the rotation of the drive wire 101, and the insertion connection facilitates the assembly and replacement of the drive wire 101.

[0058] like Figure 3 and Figure 6 As shown, the inner edge of the turntable 5 may also be provided with a limiting groove 52 for limiting the plug-in terminal 1011. The plug-in terminal 1011 is partially located in the limiting groove 52, which restricts the plug-in terminal 1011 from moving into the guide groove 54 and disengaging from the socket 621. This allows the plug-in terminal 1011 to be stably plugged into the socket 621, preventing the plug-in terminal 1011 from entering the guide groove 54 and ensuring plugging stability.

[0059] like Figure 7 As shown, the surface of the storage tray 2 away from the cover plate 3 is provided with a first mating part 23, the turntable 5 is provided with a second mating part 55, and the bottom of the first bevel gear 61 is provided with a third mating part 611. The first mating part 23, the second mating part 55, and the third mating part 611 are respectively used to drive and engage with the corresponding driving parts, and are driven by the corresponding driving parts to achieve their respective rotation. The first mating part 23, the second mating part 55, and the third mating part 611 are all located on the same side of the surgical instrument unit, which facilitates connection with the drive mechanism of the instrument delivery mechanism.

[0060] like Figure 8 and Figure 9 As shown, the instrument delivery mechanism provided in this embodiment includes a base 1 and a drive mechanism and an actuation component 4 disposed on the base 1. The drive mechanism includes a first drive unit S1, which is driveably connected to the receiving tray 2. The actuation component 4 is driveably connected between the first drive unit S1 and the guide unit 32, causing the guide unit 32 to move synchronously along the radial direction of the cover plate 3 as the receiving tray 2 rotates. By synchronously driving the receiving tray 2 and the guide unit 32 with the first drive unit S1, the guide unit 32 can move in accordance with changes in the instrument outlet position, ensuring that the output path of the flexible instrument body 10 remains smooth, and making the delivery and retrieval process more stable and reliable.

[0061] like Figure 8As shown, the actuation assembly 4 includes a gear assembly 41, a lead screw 42, and a slider 43. The first drive unit S1 can drive the lead screw 42 to rotate via the gear assembly 41. The lead screw 42 is parallel to the extension direction of the outlet part 31 (the extension direction of the slide rail 33). The slider 43 is provided with a threaded hole and is threadedly engaged with the lead screw 42. One of the slider 43 and the guide part 32 is provided with a slot 431, and the other is provided with a plugging protrusion 322. The plugging protrusion 322 is plugged into the slot 431, and the slot 431 is arranged along the axial direction of the cover plate 3.

[0062] It can be like Figure 9 As shown, the slider 43 is provided with a slot 431, and the guide part 32 is provided with a plugging protrusion 322 (e.g., Figure 5 As shown, the insertion protrusion 322 is inserted into the slot 431 from top to bottom along the axial direction of the cover plate 3, thereby engaging and linking the slider 43 with the guide part 32. The lead screw 42 can be a screw with a trapezoidal thread, whose thread mates with the threaded hole of the slider 43. When the lead screw 42 rotates, the slider 43, which is threaded with the lead screw 42, translates along the axial direction of the lead screw 42 (i.e., the extension direction of the outlet part 31), and through the engagement of the insertion protrusion 322 and the slot 431, drives the guide part 32 to move radially synchronously along the slide 33 of the cover plate 3, thereby causing the guide hole 321 to move radially following the output point of the flexible instrument body 10. Of course, it is also possible for the slider 43 to have an insertion protrusion and the guide part 32 to have a slot.

[0063] The slot 431 is arranged along the axial direction of the cover plate 3, so that the slider 43 and the guide 32 are axially inserted. With this arrangement, in the radial direction of the cover plate 3, the slider 43 can reliably drive the guide 32 to reciprocate by engaging with the side wall of the slot 431 through the insertion protrusion 322. Furthermore, since the insertion direction is the axial direction of the cover plate 3, when the surgical instrument unit (including the cover plate 3 and the guide 32) needs to be removed from the instrument delivery mechanism as a consumable, the cover plate 3 only needs to be lifted axially, and the insertion protrusion 322 can be separated axially from the slot 431 without disassembling the lead screw 42 and the slider 43. This allows for the separable docking of the surgical instrument unit and the instrument delivery mechanism at the action component 4, facilitating the rapid replacement of consumables.

[0064] The insertion protrusion 322 and the slot 431 are clearance fit to facilitate axial separation; the cross-section of the insertion protrusion 322 can be rectangular, dovetail-shaped, etc., to form a reliable transmission fit in the radial direction.

[0065] like Figure 10 and Figure 11As shown, the gear assembly 41 includes a first gear 411, a third bevel gear 412, a fourth bevel gear 413, a second gear 414, and a third gear 415. The first gear 411 is connected to the first drive unit S1, and its axis is approximately parallel to the axis of the storage tray 2. The first gear 411 and the third bevel gear 412 are coaxially linked (e.g., connected via a spline). The third bevel gear 412 meshes with the fourth bevel gear 413 to reverse the rotation axis from the vertical to the horizontal direction. The other end of the fourth bevel gear 413 is coaxially linked with the second gear 414. The second gear 414 meshes with the third gear 415. The third gear 415 is coaxially linked with the lead screw 42, or one end of the third gear 415 forms the lead screw 42. Thus, the rotation of the first drive unit S1 is transmitted sequentially through the first gear 411, the third bevel gear 412, the fourth bevel gear 413, the second gear 414, and the third gear 415 to the lead screw 42, driving the lead screw 42 to rotate.

[0066] The aforementioned bevel gear reversing structure allows the lead screw 42 to be arranged radially (horizontally) along the cover plate 3, parallel to the extending direction of the outlet 31, thereby converting the vertical output of the first drive unit S1 into the radial horizontal movement of the guide unit 32. Each transmission gear of the gear assembly 41 can be mounted on a bracket provided on the base 1.

[0067] In this embodiment, the radial movement of the guide portion 32 corresponds to the radial movement of the output point of the flexible instrument body 10. For example, the thread pitch of the lead screw 42 can be made equal to the pitch of the winding portion 21. For every rotation of the receiving disc 2 by the first drive portion S1, the gear assembly 41 drives the lead screw 42 to rotate one revolution. That is, the total transmission ratio of the transmission chain of the receiving disc 2 driven by the first drive portion S1 and the transmission chain of the lead screw 42 driven by the first drive portion S1 via the gear assembly 41 is designed to be 1:1, meaning the receiving disc 2 and the lead screw 42 rotate synchronously at the same speed. Since the pitch of the lead screw 42 is equal to the pitch of the winding portion 21, for every rotation of the receiving disc 2, the flexible instrument body 10 is released (or retracted) from the winding portion 21 one revolution, and its output point moves exactly one thread pitch radially along the receiving disc 2. Simultaneously, the lead screw 42 rotates synchronously one revolution, causing the slider 43 and the guide portion 32 to move exactly one thread pitch radially along the cover plate 3.

[0068] With this configuration, the radial displacement of the guide hole 321 is always strictly consistent with the radial displacement of the output point of the flexible instrument body 10, so that the guide hole 321 is always precisely aligned with the output point of the flexible instrument body 10 throughout the entire conveying and retraction process, thereby ensuring the continuous smoothness of the instrument output path and avoiding instrument bending, jamming or conveying resistance fluctuations caused by misalignment between the guide hole 321 and the output point.

[0069] The 1:1 synchronization relationship between the first drive unit S1 and the storage tray 2, as well as within the gear assembly 41, can be achieved by rationally selecting the number of teeth of each meshing gear.

[0070] Of course, the radial movement of the guide 32 can also be made to correspond to the radial movement of the output point of the flexible instrument body 10 by setting the transmission ratio of the gear assembly 41 and matching the thread pitch of the lead screw 42.

[0071] like Figure 9 As shown, the drive mechanism also includes a second drive unit S2 and a third drive unit S3. The second drive unit S2 is used to drive the turntable 5 so that the turntable 5 can rotate relative to the storage tray 2 to drive the drive wire 101 to move within the sleeve 102, thereby driving the aforementioned drive wire 101's forward and backward push-pull degree of freedom. The third drive unit S3 is used to drive the first bevel gear 61 to rotate, and through the second bevel gear 62, drive the drive wire 101 to rotate relative to the sleeve 102, thereby driving the aforementioned drive wire 101's circumferential rotational degree of freedom.

[0072] like Figure 9 , Figure 11 and Figure 12 As shown, the first drive unit S1 includes a first motor S11, a first gear set S12, and an outer cylinder S13. The first gear set S12 includes a first drive gear S121 connected to the first motor S11 and a first transmission gear S122 connected to the outer cylinder S13. The first drive gear S121 and the first transmission gear S122 mesh and transmit power. The upper end of the outer cylinder S13 is provided with a first elastic mating structure S131, which is detachably connected to the first mating part 23 of the storage tray 2. The first elastic mating structure S131 can elastically engage with the first mating part 23. The first mating part 23 can be a mating hole or a mating groove, and the first elastic mating structure S131 can be a mating protrusion inserted into the mating hole or mating groove; alternatively, the first mating part 23 can be a mating protrusion, and the first elastic mating structure S131 can be either a mating hole or a mating groove.

[0073] When the first motor S11 drives the outer cylinder S13 to rotate, the first elastic docking structure S131 drives the storage tray 2 to rotate relative to the cover plate 3, realizing the overall conveying and retraction of the sleeve 102. At the same time, the rotation of the outer cylinder S13 is transmitted to the lead screw 42 through the gear assembly 41, realizing the synchronous radial movement of the guide part 32.

[0074] like Figure 9 , Figure 11 and Figure 12As shown, the second drive unit S2 includes a second motor S21, a second gear set S22, and an inner cylinder S23. The second gear set S22 includes a second drive gear S221 and a second transmission gear S222 connected to the inner cylinder S23, which mesh and transmit power. The upper end of the inner cylinder S23 is provided with a second elastic mating structure S231, which is detachably connected to the second mating part 55 of the turntable 5. The second elastic mating structure S231 elastically engages with the second mating part 55. Of the two parts, one is a mating hole or groove, and the other is a mating protrusion.

[0075] When the second motor S21 drives the inner cylinder S23 to rotate, the second elastic docking structure S231 drives the turntable 5 to rotate relative to the receiving tray 2, thereby driving the drive wire 101 to move back and forth within the sleeve 102. The second elastic docking structure S231 can be a structure located on both sides of the upper end of the inner cylinder S23, which is always pushed upward under the action of springs. After the second mating part 55 and the second elastic docking structure S231 are inserted and engaged, the rotation of the inner cylinder S23 can drive the turntable 5 to rotate together.

[0076] like Figure 9 , Figure 11 and Figure 12 As shown, the third drive unit S3 includes a third motor S31, a third gear set S32, and a rotating shaft S33. The third gear set S32 includes a third drive gear S321 and a third transmission gear S322 connected to the rotating shaft S33, which mesh to transmit power. The top end of the rotating shaft S33 is provided with a third elastic docking structure S331. The structure of the rotating shaft S33 is as follows... Figure 13 As shown, the top end and the third elastic docking structure S331 can be connected by a spline to achieve coaxial transmission.

[0077] The third elastic mating structure S331 and the third mating part 611 are separably elastically mated. One of the third mating part 611 and the third elastic mating structure S331 is a mating hole or groove, and the other is a mating protrusion. When the third motor S31 drives the rotating shaft S33 to rotate, the third elastic mating structure S331 drives the first bevel gear 61 to rotate, which in turn drives the drive wire 101 to rotate circumferentially via the second bevel gear 62.

[0078] The base 1 includes a base plate 11, a support cylinder 12, and a support leg 14. The base plate 11 is used to mount the first drive unit S1, the second drive unit S2, the third drive unit S3, and each transmission gear. The support cylinder 12 is disposed above the base plate 11 and is used to support the coaxially arranged outer cylinder S13, inner cylinder S23, and rotating shaft S33. The support leg 14 forms a space between the base plate 11 and the mounting surface to accommodate the gear assembly.

[0079] The first motor S11, the second motor S21 and the third motor S31 are disposed on the base plate 11. The first gear set S12, the second gear set S22 and the third gear set S32 are disposed on the side of the base plate 11 away from the support cylinder 12. The outer cylinder S13, the inner cylinder S23 and the rotating shaft S33 are coaxially disposed in the support cylinder 12 from the outside to the inside, forming a three-layer nested coaxial rotation structure.

[0080] The outer cylinder S13 is supported in the support cylinder 12 by the first bearing 71 (e.g., angular contact ball bearing), and the rotating shaft S33 is supported in the inner cylinder S23 by the second bearing 72. The inner cylinder S23 and the outer cylinder S13 can also be supported by bearings (e.g., crossed roller bearings). Each cylinder can rotate independently without interfering with the others. The upper end of the support cylinder 12 can be provided with a bearing end cap 9, and the snap-fit ​​part 13 can be provided on the bearing end cap 9.

[0081] The driving force of the three degrees of freedom is transmitted through the coaxially nested outer cylinder S13, inner cylinder S23, and rotating shaft S33, respectively, by the first elastic docking structure S131, the second elastic docking structure S231, and the third elastic docking structure S331, driving the corresponding mating parts, such as... Figure 14 As shown, the first elastic docking structure S131, the second elastic docking structure S231, and the third elastic docking structure S331 are located on the same side of the instrument delivery mechanism (i.e., the top, the side facing the surgical instrument unit), which facilitates the assembly and disassembly of the surgical instrument unit.

[0082] This design results in a compact overall structure and a clear transmission path. It integrates three independent drives within a limited central space. Furthermore, all three locations employ flexible and separable docking. When installing the surgical instrument unit, each flexible docking structure automatically compensates for the docking gap and engages the transmission interface under the action of elastic force. Even if the initial angle is not perfectly aligned, it can automatically align and engage at the moment each drive unit starts rotating. This ensures that the surgical instrument unit, as a consumable, can be conveniently and reliably docked with the instrument delivery mechanism and can be quickly separated and replaced after use.

[0083] In this embodiment, the specific structure of the elastic docking structure is not limited. For example, two components that can slide relative to each other along the axial direction (such as sleeve, slide rail, etc.) and the components that can limit rotation along the circumferential direction through keyways, limit rotation planes, etc. are used. Springs and other elastic elements are sandwiched between the two components to achieve a structure that can elastically extend and retract and rotate synchronously in the axial direction.

[0084] At least one of the first drive unit S1, the second drive unit S2, and the third drive unit S3 may also be connected to an encoder 8, which is used to detect the rotational position of the corresponding drive unit. The encoder 8 can be installed on one side of the corresponding motor, and its shaft is linked to the corresponding drive unit via a gear set or coupling. The control system can perform closed-loop control of the rotational position and number of rotations of each drive unit based on the feedback signal from the encoder 8, thereby precisely controlling the conveying length of the sleeve 102, the push-pull stroke of the drive wire 101, and the rotation angle, improving the consistency and accuracy of operation, and facilitating the interlocking and coordination of actions of various degrees of freedom.

[0085] like Figure 14 As shown, the base 1 may have at least three snap-fit ​​parts 13 along its circumference, and the cover plate 3 has snap-fit ​​structures 34 corresponding to each snap-fit ​​part 13. The snap-fit ​​parts 13 engage with the corresponding snap-fit ​​structures 34. The snap-fit ​​parts 13 may be elastic pins located on the periphery of the base 1 (e.g., bearing end cap 9), and the snap-fit ​​structures 34 may be slots or grooves located around the cover plate 3. When installing the surgical instrument unit, the snap-fit ​​structures 34 (e.g., hooks or slot walls) on the cover plate 3 contact the elastic pins and push them to deform elastically. After continuing to install downwards until the unit is in place, the elastic pins are inserted into the snap-fit ​​structures 34 and reset, thereby fixing the surgical instrument unit axially and circumferentially relative to the base 1. The surgical instrument unit can be removed by reversing the operation during disassembly. This design results in a simple overall structure, facilitates quick assembly and disassembly, and provides good overall stability.

[0086] During installation, the surgical instrument unit is installed onto the instrument delivery mechanism from top to bottom. The snap-fit ​​structure 34 on the cover plate 3 contacts the snap-fit ​​part 13 on the base 1, pushing the elastic pin to deform outward. After continuing to install downward until it is in place, the elastic pin resets and snaps into the snap-fit ​​structure 34, achieving axial and circumferential fixation of the surgical instrument unit. At the same time, the first elastic docking structure S131, the second elastic docking structure S231, and the third elastic docking structure S331 of the outer cylinder S13, the inner cylinder S23, and the rotating shaft S33 are respectively aligned and engaged with the storage tray 2, the turntable 5, and the first bevel gear 61. The insertion protrusion 322 of the guide part 32 is inserted axially into the slot 431 of the slider 43, completing the docking of the action component 4 and the guide part 32. After installation, each drive unit starts to rotate, and each elastic docking structure automatically engages in place during rotation, establishing reliable transmission between each transmission interface.

[0087] During the conveying of the sleeve 102, the first drive unit S1 drives the outer cylinder S13 to rotate, which in turn drives the receiving tray 2 to rotate relative to the cover plate 3 via the first elastic docking structure S131. This causes the flexible instrument body 10 to be released from the winding part 21 one turn at a time and output outward through the outlet part 31 and the guide hole 321. At the same time, the rotation of the outer cylinder S13 drives the lead screw 42 to rotate via the gear assembly 41, which in turn drives the slider 43 and the guide part 32 to move radially along the cover plate 3. When retracting the sleeve 102, the first drive unit S1 reverses the drive, and all actions are performed synchronously and in reverse. The retracted flexible instrument body 10 and its surrounding contaminants are rolled into the planar spiral groove of the winding part 21.

[0088] When the drive wire 101 needs to be pushed or pulled back and forth, the second drive unit S2 drives the inner cylinder S23 to rotate. Through the second elastic docking structure S231, the turntable 5 rotates relative to the receiving tray 2. The turntable 5 converts the circumferential motion into the axial push and pull of the drive wire 101 through the snap-fit ​​terminal 1012 and the guide groove 54. When the drive wire 101 needs to rotate circumferentially, the third drive unit S3 drives the rotating shaft S33 to rotate. Through the third elastic docking structure S331, the first bevel gear 61 rotates. Then, through the second bevel gear 62 and the insertion engagement of the plug-in terminal 1011 and the insertion hole 621, the drive wire 101 rotates around its own axis.

[0089] The three degrees of freedom mentioned above can act independently or in combination with the control system and encoder 8 to complete complex diagnostic and treatment operations.

[0090] In the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0091] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A surgical instrument unit, characterized in that, Includes a flexible instrument body (10), a storage tray (2), and a cover plate (3); The flexible device body (10) includes a drive wire (101) and a sleeve (102) sleeved outside the drive wire (101). The storage tray (2) has a coiling part (21) on one side surface facing the cover plate (3). The flexible device body (10) is spirally coiled around the coiling part (21) in a plane parallel to the storage tray (2). The storage tray (2) can rotate relative to the cover plate (3) so that the flexible device body (10) coiled around the coiling part (21) can be released or retracted. The cover plate (3) is provided with an outlet (31) extending in the radial direction. The side surface of the cover plate (3) away from the storage tray (2) is also provided with a guide (32). The guide (32) is provided with a guide hole (321). The guide hole (321) and the outlet (31) are arranged sequentially along the conveying direction of the flexible instrument body (10) to jointly define the path for the flexible instrument body (10) coiled around the coiled part (21) to be output to the outside. The guide (32) can move relative to the cover plate (3) along the extension direction of the outlet (31).

2. The surgical instrument unit according to claim 1, characterized in that, The coiled part (21) is a planar spiral groove provided on the surface of the storage tray (2). The planar spiral groove extends from the inner circumference of the storage tray (2) to the outer circumference in turn, and the groove segments of adjacent turns are arranged at radial intervals along the storage tray (2).

3. The surgical instrument unit according to claim 1, characterized in that, The cover plate (3) is provided with a slide (33) in the radial direction. The slide (33) is parallel to the extension direction of the outlet (31). The guide (32) is slidably provided in the slide (33).

4. The surgical instrument unit according to any one of claims 1-3, characterized in that, The inner end of the sleeve (102) is provided with a sleeve terminal (1021), and the storage tray (2) is provided with a terminal groove (22) communicating with the winding part (21). The sleeve terminal (1021) is embedded in the terminal groove (22) to restrict the movement of the inner end of the sleeve (102) relative to the storage tray (2).

5. The surgical instrument unit according to any one of claims 1-3, characterized in that, It also includes a turntable (5), which is connected to the inner end of the drive wire (101), and the storage tray (2) is a ring structure and is located on the outer periphery of the turntable (5). The inner end of the sleeve (102) is connected to the center side of the storage tray (2). The turntable (5) can rotate relative to the storage tray (2) to drive the drive wire (101) to move axially relative to the sleeve (102).

6. The surgical instrument unit according to claim 5, characterized in that, The turntable (5) is provided with a slot (51), a buckle (53) and a guide groove (54). The guide groove (54) extends from the outer periphery of the turntable (5) to the center side of the turntable (5). The inner end of the drive wire (101) is at least partially located in the guide groove (54). The inner end of the drive wire (101) is provided with a snap-fit ​​terminal (1012). The snap-fit ​​terminal (1012) is located in the slot (51) and is limited by the buckle (53) to prevent the snap-fit ​​terminal (1012) from disengaging from the turntable (5).

7. The surgical instrument unit according to claim 6, characterized in that, It also includes a bevel gear section (6), which includes a first bevel gear (61) and a second bevel gear (62). The axis of the first bevel gear (61) is parallel to the axis of the turntable (5), and the axis of the second bevel gear (62) is perpendicular to the axis of the turntable (5). The second bevel gear (62) is connected to the inner end of the drive wire (101). When the first bevel gear (61) rotates, it can drive the drive wire (101) to rotate relative to the sleeve (102) through the second bevel gear (62).

8. The surgical instrument unit according to claim 7, characterized in that, The end of the second bevel gear (62) is provided with a socket (621), and the inner end of the drive wire (101) is provided with a plug terminal (1011). The plug terminal (1011) extends out of the inner end of the guide groove (54) and is plugged into the socket (621). The socket (621) and the plug terminal (1011) are respectively provided with mutually compatible rotation limiting structures.

9. The surgical instrument unit according to claim 8, characterized in that, The inner edge of the turntable (5) is also provided with a limiting groove (52), and the plug-in terminal (1011) is located in the limiting groove (52) to restrict the plug-in terminal (1011) from moving into the guide groove (54) until it is disengaged from the socket (621).

10. An instrument delivery mechanism for delivering a flexible instrument body (10) of a surgical instrument unit as described in any one of claims 1-4; characterized in that, The instrument delivery mechanism includes a base (1) and a drive mechanism and actuation components (4) disposed on the base (1). The driving mechanism includes a first driving part (S1), which is connected to the storage tray (2) in a transmission manner; The actuation component (4) is connected between the first drive unit (S1) and the guide unit (32), so that the guide unit (32) moves synchronously along the radial direction of the cover plate (3) as the storage tray (2) rotates.

11. The instrument conveying mechanism according to claim 10, characterized in that, The actuation component (4) includes a gear assembly (41), a lead screw (42) and a slider (43). The first drive unit (S1) can drive the lead screw (42) to rotate through the gear assembly (41). The lead screw (42) is parallel to the extension direction of the outlet (31). The slider (43) is provided with a threaded hole and is threadedly engaged with the lead screw (42). One of the slider (43) and the guide (32) is provided with a slot (431) and the other is provided with a plug-in protrusion (322). The plug-in protrusion (322) is plugged into the slot (431). The slot (431) is arranged along the axial direction of the cover plate (3).

12. The instrument conveying mechanism according to claim 11, characterized in that, The thread pitch of the lead screw (42) is equal to the thread pitch of the winding part (21). The first driving part (S1) drives the storage tray (2) to rotate once, and the gear assembly (41) drives the lead screw (42) to rotate once.

13. The instrument conveying mechanism according to any one of claims 10-12, characterized in that, The surgical instrument unit also includes a turntable (5), which is connected to the inner end of the drive wire (101). The storage tray (2) has an annular structure and is located on the outer periphery of the turntable (5). The center side of the storage tray (2) is connected to the inner end of the sleeve (102). The driving mechanism further includes a second driving part (S2), which is used to drive the turntable (5) so that the turntable (5) can rotate relative to the storage tray (2) to drive the driving wire (101) to move axially relative to the sleeve (102).

14. The instrument conveying mechanism according to claim 13, characterized in that, The surgical instrument unit also includes a bevel gear section (6), which includes a first bevel gear (61) and a second bevel gear (62). The axis of the first bevel gear (61) is parallel to the axis of the turntable (5), and the axis of the second bevel gear (62) is perpendicular to the axis of the turntable (5). The second bevel gear (62) is connected to the inner end of the drive wire (101). The driving mechanism further includes a third driving part (S3), which is used to drive the first bevel gear (61) to rotate and drive the driving wire (101) to rotate relative to the sleeve (102) through the second bevel gear (62).

15. The instrument conveying mechanism according to claim 14, characterized in that, The first drive unit (S1) includes a first motor (S11), a first gear set (S12) and an outer cylinder (S13). The upper end of the outer cylinder (S13) is provided with a first elastic docking structure (S131) ​​so as to be detachably connected to the storage tray (2) in a transmission manner. The second drive unit (S2) includes a second motor (S21), a second gear set (S22) and an inner cylinder (S23). The upper end of the inner cylinder (S23) is provided with a second elastic docking structure (S231) so as to be detachably connected to the turntable (5) for transmission. The third drive unit (S3) includes a third motor (S31), a third gear set (S32) and a rotating shaft (S33). The top end of the rotating shaft (S33) is provided with a third elastic docking structure (S331) so as to be detachably connected to the first bevel gear (61) for transmission. The base (1) includes a base plate (11) and a support cylinder (12). The first motor (S11), the second motor (S21) and the third motor (S31) are disposed on the base plate (11). The first gear set (S12), the second gear set (S22) and the third gear set (S32) are disposed on the side of the base plate (11) away from the support cylinder (12). The outer cylinder (S13), the inner cylinder (S23) and the rotating shaft (S33) are coaxially disposed inside the support cylinder (12) from the outside to the inside.

16. The instrument conveying mechanism according to claim 14, characterized in that, At least one of the first drive unit (S1), the second drive unit (S2) and the third drive unit (S3) is connected to an encoder (8), which is used to detect the rotational position of the corresponding drive unit.

17. The instrument conveying mechanism according to any one of claims 10-12, characterized in that, The base (1) is provided with at least three snap-fit ​​parts (13) along the circumferential direction, and the cover plate (3) is provided with snap-fit ​​structures (34) corresponding to each snap-fit ​​part (13), and the snap-fit ​​parts (13) are snap-fitted into the corresponding snap-fit ​​structures (34).

18. A surgical instrument, characterized in that, It includes a surgical instrument unit as described in any one of claims 1-9 and an instrument delivery mechanism as described in any one of claims 10-17, wherein the surgical instrument unit and the instrument delivery mechanism are detachably connected.

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