Novel wrist structure of minimally invasive surgery instrument device

Abstract

The utility model relates to the technical field of medical instruments, in particular to a novel wrist structure of a minimally invasive surgery instrument device, which comprises a wrist fixing piece, a wrist connecting piece and a spherical universal structure. The spherical universal structure is provided with a cross shaft rotating structure; external force applies acting force by pulling the wrist connecting piece to drive the spherical universal structure to rotate, so that the wrist connecting piece rotates relative to the wrist fixing piece, and a bending angle is formed. Through the arrangement, external force exerts acting force by pulling the wrist connecting piece, the spherical universal structure is driven to rotate, the wrist connecting piece rotates relative to the wrist fixing piece, a bending angle is formed, and therefore bending of the wrist structure is completed, and the wrist structure can be bent only through combination of the spherical universal structure, the wrist fixing piece and the wrist connecting piece. Therefore, the wrist structure is simple in structure and convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and more specifically, to a novel wrist structure of a minimally invasive surgical instrument device. Background Art

[0002] With the improvement of medical technology, many surgeries can now be performed using minimally invasive surgery, which can minimize the wound caused by the surgery and facilitate rapid recovery. Currently, minimally invasive surgery is widely used in many medical fields such as thoracic and abdominal surgery, gynecology, and urology.

[0003] Surgical instruments are tools used in minimally invasive surgery. Surgeons use surgical instruments to perform operations such as cutting, clamping, suturing, lifting and freeing of organ tissues. Surgical instruments interact directly with the operated tissues, so the requirements for the instruments used are very strict.

[0004] The curvature of the wrist structure of a minimally invasive surgical instrument is a critical technology. In order to achieve the curvature, the wrist structure of the current surgical instrument has a complex structure and is inconvenient to install. Utility Model Content

[0005] The technical solution of the utility model is aimed at the technical problems in the prior art that the curvature of the wrist structure of the surgical instrument causes a complex structure and inconvenient installation, and proposes a new wrist structure of a minimally invasive surgical instrument device to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a novel wrist structure of a minimally invasive surgical instrument device, comprising a wrist fixing part, a wrist connecting part, and a spherical universal structure, wherein the wrist fixing part and the wrist connecting part are rotatably connected via the spherical universal structure, the spherical universal structure is provided with a cross-axis rotating structure, the wrist connecting part is fixedly connected to the spherical universal structure, and the wrist fixing part is provided with a cavity structure for facilitating the spherical universal structure to be rotatably connected thereto;

[0007] The external force exerts a force by pulling the wrist connector, driving the spherical universal structure fixedly connected thereto to rotate in the cavity structure, thereby realizing the rotation of the wrist connector relative to the wrist fixing part to form a bending angle.

[0008] The utility model realizes that the wrist fixing part and the wrist connecting part are rotatably connected through a spherical universal structure, and the spherical universal structure is provided with a cross-axis rotating structure, so that an external force exerts a force by pulling the wrist connecting part, driving the spherical universal structure to rotate, thereby realizing the rotation of the wrist connecting part relative to the wrist fixing part to form a bending angle, thereby completing the bending of the wrist structure. In this way, the bending of the wrist structure can be realized only by combining the spherical universal structure with the wrist fixing part and the wrist connecting part, so that the structure is simple and easy to use.

[0009] Preferably, the cross-axis rotation structure includes a first axis and a second axis, the first axis and the second axis are a cross-intersecting fixed connection structure, the first axis is provided with a first channel passing through, the wrist connector is provided with a mounting hole for mounting the first axis, the first axis passes through the mounting hole and the first channel through a first threaded structure and is fixedly connected to the wrist connector. The first axis passes through the mounting hole and the first channel through the first threaded structure and is fixedly connected to the wrist connector, so that when a force is applied, the wrist connector can drive the first axis to make a corresponding movement.

[0010] Preferably, the wrist connector is provided with a spherical mounting portion, and a notch structure for mounting a cross-axis rotating structure is provided in the middle of the spherical mounting portion. The notch structure for mounting a cross-axis rotating structure is provided in the middle of the spherical mounting portion to facilitate the mounting of the cross-axis rotating structure.

[0011] Preferably, the mounting hole comprises a first mounting hole and a second mounting hole respectively arranged on both sides of the notch structure, the first channel is a threaded channel, and the first threaded structure sequentially passes through the first mounting hole, the first channel, and the second mounting hole to fix the first shaft to the wrist connector. The first threaded structure sequentially passes through the first mounting hole, the first channel, and the second mounting hole to fix the first shaft to the wrist connector is to facilitate the fixed connection of the first shaft to the wrist connector, so that they form a whole.

[0012] Preferably, the novel wrist structure is further provided with a first limit ring for preventing the first thread structure from slipping off. The first limit ring is provided to prevent the first thread structure from slipping off, thereby affecting the reliability of the connection between the first shaft and the wrist connector.

[0013] Preferably, the wrist connector is provided with four connection holes distributed in a 90° array for connecting the driving wires for applying force to the wrist connector. The wrist connector is provided with four connection holes distributed in a 90° array for connecting the driving wires for applying force to the wrist connector in order to apply force to the wrist connector through the driving wires, thereby driving the spherical universal structure to rotate in the cavity structure of the wrist fixing part.

[0014] Preferably, a second passage for installing a second threaded structure is provided through the second shaft. The second passage is provided to facilitate the installation of the second threaded structure.

[0015] Preferably, the spherical mounting portion is movably mounted in the wrist fixing part, and a first limiting hole and a second limiting hole are provided at the second channel position of the second axis on both sides of the side wall of the wrist fixing part, and the second threaded structure sequentially passes through the first limiting hole, the second channel, and the second limiting hole to limit the second axis at the corresponding position in the wrist fixing part. The second threaded structure sequentially passes through the first limiting hole, the second channel, and the second limiting hole to limit the second axis at the corresponding position in the wrist fixing part, and the spherical universal structure is limited by the second axis, and the position of the spherical universal structure in the cavity structure of the wrist fixing part is limited, so that the spherical universal structure can only rotate in the wrist fixing part.

[0016] Preferably, the novel wrist structure is further provided with a second limit ring for preventing the second thread structure from slipping off. The second limit ring is provided to prevent the second thread structure from slipping off, thereby affecting the reliability of the connection between the second shaft and the wrist fixing member.

[0017] Preferably, the number of the wrist connector and the spherical universal structure includes at least two and they are connected in series. The number of the wrist connector and the spherical universal structure includes at least two and they are connected in series in order to connect multiple rotatable structures in series to increase their rotation angles.

[0018] Technical effects and advantages of the utility model:

[0019] The utility model realizes that the wrist fixing part and the wrist connecting part are rotatably connected through a spherical universal structure, and the spherical universal structure is provided with a cross-axis rotating structure, so that an external force exerts a force by pulling the wrist connecting part, driving the spherical universal structure to rotate, thereby realizing the rotation of the wrist connecting part relative to the wrist fixing part to form a bending angle, thereby completing the bending of the wrist structure. In this way, the bending of the wrist structure can be realized only by combining the spherical universal structure with the wrist fixing part and the wrist connecting part, so that the structure is simple and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the structure of the new wrist structure;

[0021] Figure 2 for Figure 1 Side view of

[0022] Figure 3 is a schematic diagram of the structure of the wrist connector;

[0023] Figure 4 is a schematic diagram of the structure of the wrist fixing member;

[0024] Figure 5 It is a schematic diagram of the structure after the cross-axis rotating structure, the first thread structure, and the second thread structure are installed and fixed;

[0025] Figure 6 It is a structural schematic diagram of a cross-axis rotation structure;

[0026] Figure 7 This is a schematic diagram of the structure of the new wrist structure after being installed in the minimally invasive surgical instrument device. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] Example

[0029] like Figures 1 to 7 The present invention is an embodiment of a novel wrist structure of a minimally invasive surgical instrument device, comprising a wrist fixing member 1, a wrist connecting member 2, and a spherical universal structure 3. The wrist fixing member 1 and the wrist connecting member 2 are rotatably connected via the spherical universal structure 3. The spherical universal structure 3 is provided with a cross-axis rotating structure 31. The wrist connecting member 2 is fixedly connected with the spherical universal structure 3. The wrist fixing member 1 is provided with a cavity structure 13 for facilitating the spherical universal structure 3 to be rotatably connected with the wrist fixing member 1.

[0030] The external force exerts a force by pulling the wrist connector 2, driving the spherical universal structure 3 fixedly connected thereto to rotate in the cavity structure 13, thereby realizing the rotation of the wrist connector 2 relative to the wrist fixing member 1 to form a bending angle.

[0031] The cross-axis rotation structure 31 includes a first axis 311 and a second axis 312, the first axis 311 and the second axis 312 are cross-intersecting fixed connection structures, the first axis 311 is provided with a first channel 313 passing through, the wrist connector 2 is provided with a mounting hole 21 for mounting the first axis 311, the first axis 311 passes through the mounting hole 21 and the first channel 313 through the first threaded structure 4 and is fixedly connected to the wrist connector 2. The first axis passes through the mounting hole through the first threaded structure and the first channel and is fixedly connected to the wrist connector, so that when a force is applied, the wrist connector can drive the first axis to make a corresponding movement.

[0032] In addition, the wrist connector 2 is provided with a spherical mounting portion 22, and a notch structure 23 for mounting the cross-axis rotating structure 31 is provided in the middle of the spherical mounting portion 22. The notch structure for mounting the cross-axis rotating structure is provided in the middle of the spherical mounting portion to facilitate the installation of the cross-axis rotating structure.

[0033] The mounting hole 21 includes a first mounting hole 211 and a second mounting hole 212 respectively arranged on both sides of the notch structure 23, the first channel 313 is a threaded channel, and the first threaded structure 4 sequentially passes through the first mounting hole 211, the first channel 313, and the second mounting hole 212 to fix the first shaft 311 with the wrist connector 2. The first threaded structure sequentially passes through the first mounting hole, the first channel, and the second mounting hole to fix the first shaft with the wrist connector in order to facilitate the fixed connection of the first shaft with the wrist connector so that they form a whole.

[0034] In addition, the novel wrist structure is also provided with a first limit ring 5 for preventing the first thread structure 4 from slipping. The first limit ring is provided to prevent the first thread structure from slipping, thereby affecting the reliability of the connection between the first shaft and the wrist connector.

[0035] Among them, the wrist connector 2 is provided with four connection holes 24 distributed in a 90° array for connecting the driving wires to apply force to the wrist connector 2. The wrist connector is provided with four connection holes distributed in a 90° array for connecting the driving wires to apply force to the wrist connector in order to apply force to the wrist connector through the driving wires to drive the spherical universal structure to rotate in the cavity structure of the wrist fixing part.

[0036] In addition, a second passage 314 for installing the second threaded structure 6 is provided through the second shaft 312. The second passage is provided to facilitate the installation of the second threaded structure.

[0037] Among them, the spherical mounting portion 22 is movably mounted in the wrist fixing part 1, and the first limiting hole 11 and the second limiting hole 12 are provided at the positions of the second channel 314 of the second shaft 312 on both sides of the side wall of the wrist fixing part 1, and the second threaded structure 6 sequentially passes through the first limiting hole 11, the second channel 314, and the second limiting hole 12 to limit the second shaft 312 at the corresponding position in the wrist fixing part 1. The second threaded structure sequentially passes through the first limiting hole, the second channel, and the second limiting hole to limit the second shaft at the corresponding position in the wrist fixing part, and the spherical universal structure is limited by the second axis, and the position of the spherical universal structure in the cavity structure of the wrist fixing part is limited, so that the spherical universal structure can only rotate in the wrist fixing part.

[0038] In addition, the spherical mounting portion 22 in the cavity structure 13 of the wrist fixing part 1 is limited at a corresponding position in the wrist fixing part 1 by the second axis 312 to achieve movable installation, and both ends of the first axis 311 are free ends in the cavity structure 13, that is, they are not connected to the cavity structure 13, thereby facilitating the spherical mounting portion 22 to rotate in the cavity structure 13 under force.

[0039] In addition, the novel wrist structure is also provided with a second limit ring 7 for preventing the second thread structure 6 from slipping. The second limit ring is provided to prevent the second thread structure from slipping, thereby affecting the reliability of the connection between the second shaft and the wrist fixture.

[0040] In this embodiment, the first limit retaining ring 5 and the second limit retaining ring 7 are both half-open retaining rings. This arrangement is convenient for disassembly. Of course, it should be noted that this structure is preferred and is not a restrictive provision.

[0041] The number of wrist connectors 2 and spherical universal structures 3 is at least two and they are connected in series. The number of wrist connectors and spherical universal structures is at least two and they are connected in series in order to connect multiple rotatable structures in series to increase their rotation angles.

[0042] Specific working principle: by adjusting the length of the four driving wires in the connecting hole 24 of the wrist connector 2, the change in the length of the driving wire causes the spherical mounting portion 22 of the wrist connector to rotate around the spherical universal structure 3, thereby achieving different bending angles of the wrist structure, so that it can perform operations at different angles during the operation to meet the needs of the surgical operation.

[0043] In addition, the new wrist structure in this embodiment is applied to the minimally invasive surgical instrument device, which needs to be connected to the long rod 9 and the end effector 91 respectively through the wrist fixing member 1 and the wrist connecting member 2, and then the overall control is completed by controlling the driving wire, which will not be repeated here. In addition, the through hole 8 in the middle of the second shaft 312 is set to control the driving wire of the end effector 91 to pass through, and it is set in the middle position to avoid interference when the new wrist structure is bent.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A novel wrist structure of a minimally invasive surgical instrument, characterized in that: The wrist fixing part (1) comprises a wrist connecting part (2) and a spherical universal structure (3), wherein the wrist fixing part (1) and the wrist connecting part (2) are rotatably connected via the spherical universal structure (3), the spherical universal structure (3) is provided with a cross-axis rotating structure (31), the wrist connecting part (2) and the spherical universal structure (3) are fixedly connected, and the wrist fixing part (1) is provided with a cavity structure (13) for facilitating the spherical universal structure (3) to be rotatably connected thereto; The external force exerts an action force by pulling the wrist connecting member (2), driving the spherical universal structure (3) fixedly connected thereto to rotate within the cavity structure (13), thereby realizing the rotation of the wrist connecting member (2) relative to the wrist fixing member (1), thereby forming a bending angle.

2. The novel wrist structure of the minimally invasive surgical instrument according to claim 1, characterized in that: The cross-axis rotation structure (31) comprises a first axis (311) and a second axis (312); the first axis (311) and the second axis (312) are cross-intersecting fixed connection structures; the first axis (311) is provided with a first passage (313) passing through; the wrist connecting member (2) is provided with a mounting hole (21) for mounting the first axis (311); the first axis (311) passes through the mounting hole (21) and the first passage (313) via a first threaded structure (4) and is fixedly connected to the wrist connecting member (2).

3. The novel wrist structure of the minimally invasive surgical instrument according to claim 2, characterized in that: The wrist connecting piece (2) is provided with a spherical mounting portion (22), and a notch structure (23) for mounting a cross-axis rotating structure (31) is provided in the middle portion of the spherical mounting portion (22).

4. The novel wrist structure of the minimally invasive surgical instrument according to claim 3 is characterized in that: The mounting hole (21) comprises a first mounting hole (211) and a second mounting hole (212) respectively arranged on both sides of the notch structure (23); the first channel (313) is a threaded channel; the first threaded structure (4) sequentially passes through the first mounting hole (211), the first channel (313), and the second mounting hole (212) to fix the first shaft (311) to the wrist connector (2).

5. The novel wrist structure of the minimally invasive surgical instrument according to claim 4, characterized in that: The novel wrist structure is also provided with a first limit ring (5) for preventing the two ends of the first threaded structure (4) from sliding off.

6. The novel wrist structure of the minimally invasive surgical instrument according to any one of claims 1 to 5, characterized in that: The wrist connecting piece (2) is provided with four connection holes (24) distributed in a 90° array and used for connecting drive wires to apply force to the wrist connecting piece (2).

7. The novel wrist structure of the minimally invasive surgical instrument according to claim 5, characterized in that: The second shaft (312) is provided with a second channel (314) for installing a second threaded structure (6).

8. The novel wrist structure of the minimally invasive surgical instrument according to claim 7, characterized in that: The spherical mounting portion (22) is movably mounted in the wrist fixing member (1); a first limiting hole (11) and a second limiting hole (12) are provided at positions of the second channel (314) of the second shaft (312) on both sides of the side wall of the wrist fixing member (1); the second threaded structure (6) passes through the first limiting hole (11), the second channel (314), and the second limiting hole (12) in sequence to limit the second shaft (312) at a corresponding position in the wrist fixing member (1).

9. The novel wrist structure of the minimally invasive surgical instrument according to claim 8, characterized in that: The novel wrist structure is also provided with a second limit ring (7) for preventing the two ends of the second threaded structure (6) from sliding off.

10. The novel wrist structure of the minimally invasive surgical instrument according to claim 1, characterized in that: The wrist connecting piece (2) and the spherical universal structure (3) are respectively provided in at least two pieces and are connected in series.

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