Handle assembly

Abstract

The utility model provides a handle assembly. The handle assembly comprises a first split module and a second split module which are detachably connected. The first split module comprises a rotation driving assembly, a translation driving assembly and a relay assembly; the second split module comprises a lengthwise tail end executing mechanism and a driven assembly fixedly connected with the tail end executing mechanism. When the first split module and the second split module are assembled, the relay assembly is in transmission connection with the driven assembly; in the working process, the translation driving assembly and the rotation driving assembly drive the tail end executing mechanism to translate in the longitudinal direction of the tail end executing mechanism and rotate in the longitudinal direction of the tail end executing mechanism through the relay assembly and the driven assembly respectively. Therefore, the cost is saved while the use requirement is met.

Description

Technical Field

[0001] The present application relates to a handle assembly that can both meet the use requirements of the instrument and reduce the cost of the equipment. Background Art

[0002] For existing powered surgical instruments, the power source, transmission mechanism and end effector are all essential and important components. Surgical instruments are used to insert into human cavities, and pollutants in the human body, such as body fluids, will flow out and contaminate the parts, so they need to be cleaned and sterilized.

[0003] In the prior art, some use sterilizable motors, and clean and sterilize the motor and its related parts after each use. However, sterilizable motors are expensive, and need to be sterilized as a whole after each use, which increases the cost of use and reduces the usable time of the equipment. Some use ordinary motors and transmission mechanisms as consumables, which is a serious waste. Others use the motor as a recyclable part, but use the transmission mechanism as a consumable. However, for equipment with very high transmission accuracy, using a high-precision transmission mechanism as a consumable will also cause a lot of waste.

[0004] Therefore, in the prior art, there is a technical problem of satisfying the use requirements of the equipment and reducing the cost of the equipment. Utility Model Content

[0005] The purpose of the present application is to provide a handle assembly that can both meet the use requirements of the instrument and reduce the cost of the equipment. In order to achieve the above purpose, one scheme of the present application is a handle assembly, comprising a first split module and a second split module that are detachably connected; the first split module comprises a rotation drive assembly, a translation drive assembly and a relay assembly; the second split module comprises a longitudinal end actuator and a driven assembly fixedly connected to the end actuator; in the assembled state of the first split module and the second split module, the relay assembly is transmission-connected to the driven assembly; during operation, the translation drive assembly and the rotation drive assembly respectively drive the end actuator to translate along its longitudinal direction and rotate around its longitudinal direction via the relay assembly and the driven assembly.

[0006] According to the aforementioned technical solution, the first split module and the second split module are detachably connected, the first split module includes a power mechanism and a transmission mechanism and can be reused, and the second split module is used as a consumable, which reduces equipment waste and saves costs while meeting usage requirements.

[0007] In a preferred embodiment, the rotation drive assembly comprises a first motor and a rotation drive shaft connected to the first motor, and the translation drive assembly comprises a second motor and a translation drive shaft connected to the second motor; the rotation drive shaft and the translation drive shaft are arranged parallel to each other, with the extension direction of the rotation drive shaft as the axial direction and the direction perpendicular to the axial direction as the radial direction; when the first split module and the second split module are assembled, the relay assembly translates along the translation drive shaft based on the screw nut transmission under the drive of the second motor, and drives the driven assembly and the end actuator to translate along the longitudinal direction of the end actuator; when the first split module and the second split module are assembled, the relay assembly drives the driven assembly to rotate based on the gear transmission under the drive of the first motor, and then drives the end actuator to rotate around the longitudinal direction of the end actuator.

[0008] According to the aforementioned technical solution, in the working state, the motor drives the terminal actuator to translate and rotate via the relay component and the driven component, and the structure is simple and reliable.

[0009] In a preferred embodiment, the relay component has a connecting head extending along the radial direction, and the driven component includes a connecting groove; when the first split module and the second split module are assembled, the connecting head is inserted into the connecting groove, and the relay component drives the driven component to move along the longitudinal direction of the end actuator via the connecting head and the connecting groove.

[0010] According to the aforementioned technical solution, the relay component is matched and connected via the connecting head and the connecting groove of the driven component, thereby driving the end actuator to move along its longitudinal direction, with a simple structure and convenient transmission.

[0011] In a preferred embodiment, an elastic damping body is provided in the connecting groove, and the elastic damping body has a specified deformation allowance in the longitudinal direction of the end actuator; after the connecting head is inserted into the connecting groove, the elastic damping body is squeezed by the connecting head and compressed in the longitudinal direction of the end actuator.

[0012] According to the aforementioned technical solution, after the elastic damping body is compressed, it applies a reverse elastic force to the connector, so that the connection between the connector and the connecting groove is tighter, and the vibration generated by the connection gap during the transmission process can be absorbed.

[0013] In a preferred embodiment, the relay component includes a first gear, and the driven component includes a third gear; when the first split module and the second split module are assembled, the first gear is transmission-connected to the third gear, and the relay component drives the third gear via the first gear, thereby driving the driven component to rotate.

[0014] According to the above technical solution, the end actuator can be driven to rotate via gear transmission, and the structure is simple and reliable.

[0015] In a preferred embodiment, the relay component also includes a second gear that engages with the first gear; when the first split module and the second split module are assembled, the second gear and the third gear engage with each other, and the relay component drives the third gear via the first gear and the second gear, and then drives the driven component to rotate.

[0016] In a preferred embodiment, the rotary drive shaft is non-circular and matches the inner hole of the first gear.

[0017] In a preferred embodiment, the end actuator is provided with a sheath, one end of the sheath is used for inserting into a human body cavity, and the other end is separated from the driven component by a specified interval in the longitudinal direction of the end actuator; the second split module also includes a sealing sleeve, one end of the sealing sleeve away from the driven component is sleeved on one end of the sheath close to the driven component, and the other end of the sealing sleeve close to the driven component is sleeved on the end actuator.

[0018] According to the above technical solution, a sealing sleeve is provided at the rear end of the sheath, so that most of the pollutants flowing in from the sheath are sealed in the sealing sleeve, reducing the contamination of other parts. At the same time, the recycled parts are prevented from contacting the end effector as a consumable, thereby preventing the recycled parts from contaminating the new end effector when used next time.

[0019] In a preferred embodiment, the second split module further comprises a retractable sealing tube, wherein one end of the retractable sealing tube away from the driven component is sleeved on one end of the sealing sleeve close to the driven component, and one end of the retractable sealing tube close to the driven component is sleeved on the driven component.

[0020] According to the aforementioned technical solution, the pollutants flowing out from between the sealing sleeve and the end actuator are sealed in the retractable sealing tube, which improves the sealing effect and further reduces the risk of contamination to other components.

[0021] In a preferred embodiment, the driven assembly includes a driven gear connected to the end actuator and a transition gear meshing with the driven gear; a shaft head is provided at the end of the rotating drive shaft away from the first motor, and the cross-section of the shaft head in the radial direction is non-circular; when the first split module and the second split module are assembled, the shaft head is inserted into the inner hole of the transition gear that is adapted to the shaft head, and the rotating drive shaft drives the transition gear via the shaft head, and then drives the end actuator to rotate around the axial direction via the driven gear.

[0022] According to the aforementioned technical solution, the rotation transmission of the end actuator can be conveniently realized.

[0023] In a preferred embodiment, the transition gear is rotatably connected to a gear rack extending along the radial direction, and the gear rack can drive the end actuator to translate synchronously along the axial direction.

[0024] According to the aforementioned technical solution, the gear rack can drive the gear and the end actuator to translate synchronously along the axial direction, so that the gear can meet the demand for rotational transmission of the end actuator while adjusting the position axially forward and backward.

[0025] In a preferred embodiment, the gear rack has a guide boss extending along the radial direction, and the second split module is provided with a slide groove extending along the axial direction; the guide boss is clamped in the slide groove, so that the gear rack can translate along the slide groove in the axial direction.

[0026] According to the aforementioned technical solution, under the restriction of the slide groove, the gear rack can only translate along the axial direction but cannot deflect around the axial direction.

[0027] In a preferred embodiment, the driven gear is connected to an instrument fixing sleeve extending along the axial direction, and the driven gear is rotatably connected to the gear frame; the end actuator is arranged in a manner of passing through the instrument fixing sleeve and the driven gear, and the driven gear drives the instrument fixing sleeve and then drives the end actuator to rotate around the axial direction.

[0028] According to the aforementioned technical solution, the rotation transmission between the driven gear and the end actuator can be easily realized.

[0029] In a preferred embodiment, the gear rack is also provided with a gear rack clamping piece, and the relay assembly is correspondingly provided with a gear rack slot; when the first split module and the second split module are assembled, the gear rack clamping piece is clamped with the gear rack slot, so that the second motor drives the relay assembly and then drives the end actuator to translate along the axial direction via the gear rack.

[0030] According to the aforementioned technical solution, the relay assembly drives the gear frame via the gear frame clamping piece, and then drives the end actuator to translate along the axial direction.

[0031] In a preferred embodiment, the gear rack clamping member has a gear rack clamping arm extending along the axial direction and a gear rack clamping joint extending along the radial direction from one end of the gear rack clamping arm away from the gear rack; when the first split module and the second split module are assembled, the gear rack clamping joint is clamped with the gear rack clamping groove.

[0032] According to the aforementioned technical solution, the relay assembly drives the gear frame via the gear frame clamping piece, and then drives the end actuator to translate along the axial direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the present application, the drawings of the specification of the present application will be described and illustrated below. Obviously, the drawings in the following description only illustrate certain aspects of some exemplary embodiments of the present application, and it is possible for a person of ordinary skill in the art to obtain other drawings based on these drawings without creative work.

[0034] Figure 1 It is a schematic diagram of the overall structure of the handle assembly of the first embodiment.

[0035] Figure 2 It is an enlarged view of the driven component of the first embodiment.

[0036] Figure 3 It is a schematic diagram of the assembly of the handle assembly of the first embodiment.

[0037] Figure 4 It is a schematic diagram of the gear transmission of the first embodiment.

[0038] Figure 5 It is a schematic diagram of the internal sealing structure of the handle assembly of Example 1.

[0039] Figure 6 It is a structural diagram of the first split module of the second embodiment.

[0040] Figure 7 It is a structural diagram of the second split module of the second embodiment.

[0041] Figure 8 This is an appearance view of the first split module of the second embodiment.

[0042] Fig. 9 It is an assembly diagram of the second embodiment.

[0043] Fig.10 It is a cross-sectional view of the connection between the gear rack and the gear in the second embodiment.

[0044] Fig.11 It is a radial cross-sectional view of the driven gear and the transition gear of the second embodiment.

[0045] Caption of the attached figure:

[0046] 1The first split module

[0047] 10 Upper shell

[0048] 100 Upper shell extension arm

[0049] 101 upper shell front end

[0050] 1011 front card slot

[0051] 102 upper shell body

[0052] 1021 translation axis hole

[0053] 1022 Rotating shaft hole

[0054] 1023 main card slot

[0055] 11 First Motor

[0056] 111 first coupling

[0057] 112 Rotating drive shaft

[0058] 1121 Rotating Bushing

[0059] 1122 shaft head

[0060] 12 Second motor

[0061] 121 Second coupling

[0062] 122 translation drive shaft

[0063] 1221 translation sleeve

[0064] 13 Nut

[0065] 141 First Gear

[0066] 142 Second Gear

[0067] 15 First Skateboard

[0068] 151 connector

[0069] 16 Second Skateboard

[0070] 17 Relay Components

[0071] 171 gear rack slot

[0072] 2 Second split module

[0073] 20 Lower shell

[0074] 200 chute

[0075] 201 Guide Rail

[0076] 205 lower shell extension

[0077] 2051 front end connector

[0078] 206 rear end connector

[0079] 21 End effector

[0080] 22 sheath

[0081] 23 driven components

[0082] 231 driven gear

[0083] 2310 Instrument Fixing Sleeve

[0084] 2311 Instrument fixed sleeve front end

[0085] 2312 First Bullet Block

[0086] 232 transition gear

[0087] 2320 transition gear hole

[0088] 2321 transition gear shaft

[0089] 2322 Second Bullet Block

[0090] 233 gear rack

[0091] 2330 gear rack connector

[0092] 2331 Gear rack clamp arm

[0093] 2332 gear rack connector

[0094] 2333 first guide boss

[0095] 2334 second guide boss

[0096] 234 elastic damper

[0097] 235 guide shaft

[0098] 236 connection slots

[0099] 237 Third Gear

[0100] 24 sheath holes

[0101] 25 Sealing sleeve

[0102] 26 retractable sealing tube DETAILED DESCRIPTION

[0103] Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present application and its application or use. The present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present application thorough and complete and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise stated, the relative arrangement of the components and steps, numerical expressions, and numerical values, etc., described in these embodiments should be interpreted as being merely exemplary, rather than as limitations.

[0104] The words “include” or “comprising” and the like used in this application mean that the elements preceding the words include the elements listed after the words, and do not exclude the possibility of also including other elements.

[0105] All terms (including technical terms or scientific terms) used in this application have the same meaning as those understood by ordinary technicians in the field to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this article.

[0106] Components not described in detail in this section, parameters such as specific models of components, relationships between components, and control circuits may be considered as technologies, methods, and equipment known to ordinary technicians in the relevant fields, but in appropriate cases, such technologies, methods, and equipment should be considered as part of the specification.

[0107] Embodiment 1

[0108] The following reference Figure 1-4 The structure of the handle assembly of the first embodiment is described. Figure 1 is a schematic diagram of the overall structure of the handle assembly of the first embodiment, Figure 2 is an enlarged view of the driven component 23 of the first embodiment, Figure 3 is an assembly diagram of the handle assembly of the first embodiment, Figure 4 It is a schematic diagram of the gear transmission of the first embodiment.

[0109] First, the first split module 1 is described in detail.

[0110] See also Figure 1The handle assembly includes a first split module 1 and a second split module 2 which are detachably connected. The first split module 1 includes a rotation drive assembly, a translation drive assembly and a relay assembly 17; the rotation drive assembly includes a first motor 11 and a rotation drive shaft 112 connected to the first motor 11, and the translation drive assembly includes a second motor 12 and a translation drive shaft 122 connected to the second motor 12. The rotation drive shaft 112 and the translation drive shaft 122 are connected to the output shafts of the first motor 11 and the second motor 12 via a first coupling 111 and a second coupling 121, respectively.

[0111] In this embodiment, the rotation drive shaft 112 is arranged in parallel with the translation drive shaft 122, and the first motor 11 and the second motor 12 are also arranged in parallel. For the convenience of description, the extension direction of the rotation drive shaft 112, that is, the extension direction of the translation drive shaft 122, is the axial direction, and the direction perpendicular to the axial direction is the radial direction. In the axial direction, the direction from the first motor 11 toward the rotation drive shaft 112, that is, the direction in which the handle assembly is inserted into the human body, is the front, and the reverse direction is the rear. The side of the first split module 1 facing the second split module 2 in the assembled state is the bottom, and the reverse direction is the top. The direction perpendicular to the axial direction and the up and down direction is the lateral direction. Unless otherwise specified below, the description of the direction is the same.

[0112] In this embodiment, the rotation drive shaft 112 and the translation drive shaft 122 are arranged in parallel along the lateral direction. In fact, there is no limitation on the relative positions of the two as long as they are parallel.

[0113] Among them, the relay component 17 moves back and forth along the translation drive shaft 122 based on the screw nut transmission under the drive of the second motor 12, that is, the translation drive shaft 122 is a screw, and the relay component 17 is provided with a nut 13. The second motor 12 drives the translation drive shaft 122 to rotate, and then drives the relay component 17 to translate back and forth along the axial direction through the nut 13.

[0114] The nut 13 is fixed to at least one of the first slide plate 15 and the second slide plate 16. It can be understood that the nut 13 can be a component separately provided on the relay assembly 17, or a threaded inner hole can be provided on the first slide plate 15 or the second slide plate 16, and the inner hole is sleeved on the lead screw of the translation drive shaft 122, so as to drive the relay assembly 17 to move axially.

[0115] Meanwhile, the relay assembly 17 has a connector 151 extending in the radial direction. Exemplarily, the connector 151 is disposed below the first slide plate 15 and is a fork structure shown in the figure, so as to facilitate insertion into the later-described connection groove 236. In fact, the shape and position of the connector 151 are not limited thereto, and it can be disposed on the second slide plate 16 or in other shapes that are convenient for insertion into the connection groove 236.

[0116] The relay assembly 17 drives the driven assembly 23 to rotate axially based on the gear transmission under the drive of the first motor 11. Specifically, as a preferred mode, the relay assembly 17 includes a first slide plate 15 and a second slide plate 16 sleeved on the rotating drive shaft 112 and the translation drive shaft 122. The first slide plate 15 and the second slide plate 16 are parallel to each other and fixedly connected, and a clamping space is formed between the first slide plate 15 and the second slide plate 16. As a preferred mode, a first gear 141 and a second gear 142 are sandwiched between the first slide plate 15 and the second slide plate 16.

[0117] See also Figure 4 In this embodiment, the first gear 141 is sleeved on the rotating drive shaft 112. The radial cross section of the rotating drive shaft 112 is non-circular, such as semicircular, cross-shaped, or polygonal, so as to fit with the inner hole of the first gear 141 and drive the first gear 141 to rotate axially.

[0118] Since the first gear 141 is sleeved on the rotating drive shaft 112, the first gear 141 is located at the lateral side position of the first split module 1, and the third gear 237 described later is sleeved on the end actuator 21 and is located near the lateral middle position of the second split module 2. In the assembled state of the first split module 1 and the second split module 2, the first gear 141 and the third gear 237 can directly mesh to perform gear transmission, but in order to prevent each gear from being too large and occupying too much internal space of the handle assembly, the present application sets a second gear 142 that meshes with the first gear 141, so that the second gear 142 is closer to the lateral middle position of the first split module 1 relative to the first gear 141, so that the second gear 142 and the third gear 237 are easier to mesh in the assembled state. In fact, the relay assembly 17 can include one or more gears, as long as it can transmit the rotational motion to the third gear 237 described later, and no further details will be given here.

[0119] Next, the second split module 2 will be described in detail.

[0120] See also Figure 1 The second split module 2 comprises a lower shell 20, a guide rail 201 fixed to the lower shell 20, and a longitudinal end effector 21 capable of translational movement along the guide rail 201. In this embodiment, the end effector 21 is a surgical instrument suitable for being inserted into a human cavity for inspection or surgery, such as a water jet ablation tool, a laser ablation tool, a microwave ablation tool, or other instruments with a slender rod-shaped body, which are not specifically limited here.

[0121] The front end of the end actuator 21 is used to be inserted into a human body cavity, and a driven component 23 is fixedly connected to a position away from the front end. Figure 2The driven component 23 has a guide shaft 235, the radial inner wall of the guide shaft 235 is sleeved on the end actuator 21, and the outer wall is set in the guide rail 201. The guide shaft 235 can move forward and backward along the guide rail 201 and drive the end actuator 21 to be inserted forward or pulled backward along its longitudinal direction.

[0122] The guide shaft 235 is provided with a connecting groove 236 extending radially from its outer peripheral wall. Preferably, the connecting groove 236 is annular and surrounds the guide shaft 235 as shown in the figure. The driven assembly 23 also includes a third gear 237. In this embodiment, the third gear 237 is arranged in a manner of being sleeved on the end actuator 21. In the longitudinal direction of the end actuator 21, the third gear 237 is located in front of the connecting groove 236. In fact, the third gear 237 can also be located behind the connecting groove 236, and can also be sleeved on the outer peripheral wall of the guide shaft 235, which is not limited here.

[0123] See also Figure 3 and Figure 4 In the assembled state of the first split module 1 and the second split module 2, the rotation drive shaft 112 and the translation drive shaft 122 are parallel to the end actuator 21, and the longitudinal direction of the end actuator 21 is the aforementioned axial direction.

[0124] At this time, the connector 151 of the relay assembly 17 is inserted into the connecting groove 236, and the second gear 142 is engaged with the third gear 237. Thus, the second motor 12 drives the relay assembly 17 to translate axially via the translation drive shaft 122 and the nut 13. On the one hand, the relay assembly 17 drives the driven assembly 23 to move forward and backward in the axial direction via the connector 151 and the connecting groove 236, thereby driving the end actuator 21 to translate axially. On the other hand, the relay assembly 17 clamps the first gear 141 and the second gear 142 via the first slide 15 and the second slide 16 and moves them forward and backward in the axial direction, so that the first gear 141, the second gear 142 and the third gear 237 of the driven assembly 23 translate axially synchronously.

[0125] The first motor 11 drives the first gear 141 to rotate axially via the rotating drive shaft 112, and the first gear 141 drives the third gear 237 to rotate axially via the second gear 142, and the third gear 237 drives the end effector 21 to rotate axially. Thus, the end effector 21 can be controlled to perform forward and backward translation and rotation movements during surgery.

[0126] More preferably, see Figure 2An elastic damping body 234 is fixed in the connection groove 236. The elastic damping body 234 has a predetermined deformation allowance in the longitudinal direction of the end actuator 21 and can be elastically compressed. The elastic damping body 234 can be arranged on the front inner wall of the connection groove 236 in the longitudinal direction of the end actuator 21, or on the rear inner wall thereof. Here, the elastic damping body 234 is described as being arranged on the front inner wall as shown in the figure.

[0127] In the longitudinal direction of the end actuator 21, the dimension between the front inner wall and the rear inner wall of the connecting groove 236 is larger than the dimension of the connecting head 151 in this direction, but after the elastic damping body 234 is installed on the front inner wall, the dimension between the rear end face of the elastic damping body 234 and the rear inner wall of the connecting groove 236 is smaller than the dimension of the connecting head 151 in this direction.

[0128] In this way, after the connecting head 151 is inserted into the connecting groove 236, the elastic damping body 234 is squeezed by the connecting head 151 and compressed in the longitudinal direction of the end actuator 21, and applies a reverse elastic force to the connecting head 151, so that the fitting connection between the connecting head 151 and the connecting groove 236 is tighter, and the vibration caused by the fitting gap between the connecting head 151 and the connecting groove 236 can be absorbed.

[0129] At the same time, when the relay assembly 17 translates axially, when the elastic damping body 234 is compressed and the elastic force generated is greater than / equal to the axial load when the end actuator 21 is working, the elastic damping body 234 can also absorb the axial load to avoid the connecting head 151 and the connecting groove 236 from shaking back and forth due to the axial load.

[0130] Next, combine Figure 3 and Figure 5 The sealing structure inside the handle assembly is described in detail. Figure 5 It is a schematic diagram of the internal sealing structure of the handle assembly of Example 1.

[0131] See also Figure 3 , Figure 5 The first split module 1 has an upper shell 10. When the first split module 1 and the second split module 2 are assembled, the upper shell 10 and the lower shell 20 are clamped together, and a sheath hole 24 is reserved at the front end. The sheath 22 extends from the sheath hole 24 into the internal space after the upper shell 10 and the lower shell 20 are clamped together, and the end actuator 21 is sleeved in the sheath 22, and performs axial translation and axial rotation along the internal cavity of the sheath 22.

[0132] The front end of the sheath 22 is used for inserting into a human body cavity, and the rear end is separated from the driven component 23 by a predetermined interval in the longitudinal direction of the end actuator 21 .

[0133] In a common application scenario, the second split module 2 is used as a disposable consumable and discarded after use, while the first split module 1 is used as a reusable part and reused repeatedly to save consumption and cost.

[0134] To this end, a sealing member such as a rubber ring is provided between the sheath 22 and the sheath hole 24, or the sheath 22 and the lower shell 20 are bonded together at the sheath hole 24, so that after the sheath 22 is inserted into the human body cavity, pollutants in the human body will not flow into the handle assembly through the sheath hole 24. However, some pollutants will still flow into the handle assembly through the gap between the sheath 22 and the end actuator 21, causing contamination to the components in the handle assembly.

[0135] To this end, as a preferred method, a sealing sleeve 25 is provided in the second split module 2, and in the longitudinal direction of the end actuator 21, the front end of the sealing sleeve 25 is sleeved on the outer peripheral wall of the rear end of the sheath 22, and the rear end of the sealing sleeve 25 is sleeved on the outer peripheral wall of the end actuator 21. That is, the sealing sleeve 25 is sleeved on the rear end of the sheath 22, so that the pollutants flowing in from the gap between the sheath 22 and the end actuator 21 are sealed in the sealing sleeve 25, reducing the contamination of other components.

[0136] However, since the rear end of the sealing sleeve 25 is sleeved on the outer peripheral wall of the end actuator 21, and the end actuator 21 needs to translate and rotate, some pollutants that flow into the sealing sleeve 25 will also flow out through the gap between the rear end of the sealing sleeve 25 and the outer peripheral wall of the end actuator 21, posing a risk of contaminating other components.

[0137] To this end, it is further preferred that a telescopic sealing tube 26 is further provided, the front end of the telescopic sealing tube 26 is sleeved on the outer peripheral wall of the rear end of the sealing sleeve 25, and the rear end of the telescopic sealing tube 26 is sleeved on the outer peripheral wall of the front end of the driven component 23. Exemplarily, the telescopic sealing tube 26 is a bellows.

[0138] Therefore, in the longitudinal direction of the end actuator 21, between the rear end of the sheath 22 and the front end of the driven assembly 23, a sealing sleeve 25 and a retractable sealing tube 26 are successively installed, so that most of the pollutants flowing into the handle assembly from the gap between the sheath 22 and the end actuator 21 are sealed by the sealing sleeve 25, and the outflowing part is sealed by the retractable sealing tube 26, so that the pollutants are always only in the second split module 2, and will not cause contamination to the parts of the first split module 1. At the same time, it prevents the recycled parts from contacting the end actuator 21 as a consumable, so as to avoid the recycled parts from contaminating the new end actuator 21 when it is used next time.

[0139] Embodiment 2

[0140] Next, combine Figure 6-11The structure of the handle assembly of the second embodiment is described. Figure 6 is a schematic structural diagram of the first split module 1 of the second embodiment, Figure 7 is a schematic structural diagram of the second split module 2 of the second embodiment, Figure 8 This is an appearance view of the first split module 1 of the second embodiment. Fig. 9 is an assembly diagram of the second embodiment, Fig.10 is a cross-sectional view of the connection between the gear rack 233 and the gears in the second embodiment, Fig.11 It is a radial cross-sectional view of the driven gear 231 and the transition gear 232 of the second embodiment.

[0141] First, the first split module 1 is described in detail.

[0142] See also Figure 6 The first split module 1 includes a rotation drive component, a translation drive component and a relay component 17; the rotation drive component has a first motor 11 (not shown in the figure) and a rotation drive shaft 112 that is transmission-connected to the first motor 11, and the translation drive component includes a second motor 12 and a translation drive shaft 122 that is transmission-connected to the second motor 12.

[0143] The rotation drive shaft 112 is arranged in parallel with the translation drive shaft 122. For the convenience of description, the extension direction of the rotation drive shaft 112, that is, the extension direction of the translation drive shaft 122, is the axial direction, and the direction perpendicular to the axial direction is the radial direction. In the axial direction, the direction in which the handle assembly is inserted into the human body is the front direction, and the reverse direction is the rear direction. The side of the first split module 1 facing the second split module 2 in the assembled state is the bottom direction, and the reverse direction is the top direction. The direction perpendicular to both the axial direction and the up-down direction is the lateral direction. Unless otherwise specified below, the description of the direction is the same as this.

[0144] In this embodiment, the rotation drive shaft 112 and the translation drive shaft 122 are arranged in parallel along the up-down direction. In fact, there is no limitation on the relative positions of the two as long as they are parallel.

[0145] The relay assembly 17 moves forward and backward along the translation drive shaft 122 based on the screw nut transmission under the drive of the second motor 12, that is, the translation drive shaft 122 is a screw structure, connected with a nut 13, and the nut 13 is fixedly connected to the translation sleeve 1221 sleeved on the outer peripheral wall of the translation drive shaft 122, or the inner wall of the translation sleeve 1221 is set to an internal thread adapted to the screw of the translation drive shaft 122, so that when the translation drive shaft 122 rotates around the axial direction, the translation sleeve 1221 can be pushed to translate forward and backward along the axial direction. The translation sleeve 1221 is connected to the relay assembly 17, which can drive the relay assembly 17, and then drive the rotating sleeve 1121 also connected to the relay assembly 17 to translate forward and backward along the axial direction.

[0146] Continue to view Figure 6 The rotating drive shaft 112 is sleeved with a rotating sleeve 1121, and a shaft head 1122 is provided at the front end of the rotating sleeve 1121 for inserting into a transition gear hole 2320 of a transition gear 232 described later, so as to drive the transition gear 232 to rotate. The radial cross section of the shaft head 1122 is non-circular, such as a polygonal shape, a semicircular shape, etc., which is not limited here.

[0147] In addition, the upper shell 10 of the first split module 1 includes an upper shell main body 102 and an upper shell extension arm 100 extending axially forward a preset distance from the upper shell main body 102, and an upper shell front end 101 extending radially from an end of the upper shell extension arm 100 away from the upper shell main body 102, and a movable space for the relay component 17 to move is formed between the upper shell front end 101 and the upper shell main body 102.

[0148] The upper shell body 102 is used to accommodate the first motor 11, the second motor 12, the rotation drive shaft 112, the translation drive shaft 122, the nut 13 and other components, and is provided with a translation shaft hole 1021 and a rotation shaft hole 1022. The translation shaft sleeve 1221 and the rotation shaft sleeve 1121 respectively pass through the translation shaft hole 1021 and the rotation shaft hole 1022. In this way, sealing members are respectively provided at the translation shaft hole 1021 and the rotation shaft hole 1022, so as to avoid contamination of the components in the upper shell body 102 during the operation and reduce the burden of cleaning and disinfection.

[0149] Next, the second split module 2 will be described in detail.

[0150] See also Figure 7 The second split module 2 includes a lower shell 20 and a slide groove 200 disposed on the inner wall of the lower shell 20 and extending in the axial direction. The slide groove 200 can be disposed on one side of the inner wall of the lower shell 20 in the lateral direction, or can be disposed on both the left and right sides in the lateral direction. Here, the slide groove 200 is disposed on both the left and right sides of the inner wall of the lower shell 20 in the lateral direction as an example for description.

[0151] The front end of the lower shell 20 is reserved with a sheath hole 24, the sheath 22 extends from the sheath hole 24, and the end actuator 21 can perform axial translation and axial rotation along the internal cavity of the sheath 22. The front end of the sheath 22 is used to be inserted into the cavity of the human body.

[0152] In a common application scenario, the second split module 2 is used as a disposable consumable and discarded after use, while the first split module 1 is used as a reusable part and recycled to save consumption and cost.

[0153] The second split module 2 is also provided with a driven assembly 23 capable of axial translation, and the driven assembly 23 comprises a driven gear 231 connected to the end actuator 21 and a transition gear 232 engaged with the driven gear 231. The transition gear 232 is rotatably connected to a gear rack 233 extending in the radial direction, and the gear rack 233 can drive the end actuator 21 to synchronously translate in the axial direction.

[0154] When the first split module 1 and the second split module 2 are in the assembled state, the shaft head 1122 is inserted into the transition gear hole 2320 of the transition gear 232 which is adapted to the shaft head 1122. The rotating drive shaft 112 drives the rotating sleeve 1121 to rotate axially under the drive of the second motor 12. The rotating sleeve 1121 drives the shaft head 1122 and then drives the transition gear 232 to rotate. The transition gear 232 drives the end actuator 21 to rotate axially along its longitudinal direction, i.e., axially, via the driven gear 231.

[0155] See also Figure 7 , Figure 8 , Fig. 9 A front end slot 1011 is provided on the inner wall of the front end 101 of the upper shell facing the rear side, and a main body slot 1023 is provided on the lateral side of the upper shell body 102. A rear end clip 206 is provided at the rear position of the lower shell 20, and a lower shell extension 205 extending radially is provided at the front position, and a front end clip 2051 extending axially is provided at the front side of the lower shell extension 205. At the same time, the gear rack 233 is provided with a gear rack clip 2330, and the relay assembly 17 is correspondingly provided with a gear rack slot 171.

[0156] When the first split module 1 and the second split module 2 are assembled, the gear rack clamp 2330 is clamped with the gear rack slot 171, so that the second motor 12 drives the relay assembly 17 to translate axially based on the screw nut structure, and the relay assembly 17 drives the gear rack 233 via the gear rack clamp 2330, and then drives the end actuator 21 to translate axially forward and backward.

[0157] Among them, the gear rack clamping part 2330 has a gear rack clamping arm 2331 extending axially toward the rear, and a gear rack clamping joint 2332 extending radially from the rear end of the gear rack clamping arm 2331. When the first split module 1 and the second split module 2 are assembled, the gear rack clamping joint 2332 is clamped into the gear rack clamping slot 171 to realize the clamping connection between the gear rack clamping part 2330 and the gear rack clamping slot 171.

[0158] At the same time, the front end clamping piece 2051 of the lower shell 20 is clamped with the front end clamping slot 1011 of the upper shell front end 101, and the rear end clamping piece 206 of the lower shell 20 is clamped with the main body clamping slot 1023 of the upper shell body 102, so that the upper shell 10 and the lower shell 20 form a stable frame structure. The driven component 23 of the second split module 2 is clamped with the relay component 17 via the gear frame clamping piece 2330, and the driven component 23 is located in the activity space between the upper shell front end 101 and the upper shell body 102.

[0159] Next, the transmission connection between the gear rack 233 and the gears will be described in detail.

[0160] See also Fig.10 The gear frame 233 includes a first guide boss 2333 and a second guide boss 2334 extending to the left and right sides in the transverse direction. The first guide boss 2333 and the second guide boss 2334 are clamped in the slide groove 200, so that the gear frame 233 can only translate in the axial direction along the slide groove 200.

[0161] In this embodiment, the driven gear 231 is connected to the instrument fixing sleeve 2310. After the front end 2311 of the instrument fixing sleeve 2310 passes through the inner hole of the driven gear 231, it and the transition gear shaft 2321 pass through the corresponding bearings (not shown in the figure) of the gear frame 233 respectively, and then the first spring stop 2312 and the second spring stop 2322 are respectively installed to limit the axial displacement of the instrument fixing sleeve 2310, the driven gear 231 and the transition gear 232 relative to the gear frame 233.

[0162] The transition gear shaft 2321 is provided with the aforementioned transition gear hole 2320 at one end away from the gear frame 233 in the axial direction; a step surface is provided between the instrument fixing sleeve 2310 and the driven gear 231, so that the instrument fixing sleeve 2310 pushes the driven gear 231 against one side of the gear frame 233. A step surface can also be provided between the instrument fixing sleeve 2310 and the end actuator 21, so that the instrument fixing sleeve 2310 can drive the end actuator 21 to translate along the axial direction. As an example, the instrument fixing sleeve 2310 is made of plastic material, which is convenient for shaping and processing and saves costs.

[0163] See also Fig.10 and Fig.11 The end actuator 21 passes through the instrument fixing sleeve 2310 in the axial direction and then extends into the sheath 22. The radial cross section of the portion where the instrument fixing sleeve 2310 and the driven gear 231 are sleeved is: Fig.11The non-circular shape shown is, for example, D-shaped, polygonal, etc., and the radial cross-section of at least a portion of the instrument fixing sleeve 2310 sleeved with the end effector 21 is also non-circular, for example, D-shaped, polygonal, etc. Thus, the driven gear 231 can drive the instrument fixing sleeve 2310 to rotate axially, and the instrument fixing sleeve 2310 can then drive the end effector 21 to rotate axially.

[0164] As can be seen from the foregoing, in this embodiment, the driven gear 231 and the transition gear 232 are rotatably connected to the gear frame 233, and the gear frame 233 is mounted in the slide groove 200 via the guide protrusion, so that the gear frame 233 can drive the driven gear 231 to perform axial translation along the slide groove 200, and the driven gear 231 can then drive the end effector 21 to perform axial translation via the instrument fixing sleeve 2310. At the same time, the driven gear 231 can also drive the end effector 21 to rotate around the axial direction via the instrument fixing sleeve 2310.

[0165] When the first split module 1 and the second split module 2 are assembled, the first motor 11 drives the shaft head 1122 via the rotating drive shaft 112, and then drives the transition gear 232 to rotate, and the transition gear 232 drives the end actuator 21 to rotate axially via the driven gear 231. The second motor 12 drives the relay assembly 17 to translate axially via the lead screw nut structure, and the relay assembly 17 drives the gear rack 233 to translate axially via the gear rack clamp 2330, and the gear rack 233 drives the end actuator 21 to translate axially via the driven gear 231.

[0166] In summary, the handle assembly of the present application is provided with a first split module 1 and a second split module 2 that are detachably connected, and the power source and the main transmission mechanism are placed in the first split module 1. The first split module 1 can be repeatedly used and the second split module 2 can be used as a disposable consumable. This not only facilitates disassembly and assembly and further reduces the equipment cost, but also reduces the trouble of cleaning and sterilizing the first split module 1 after use, thereby reducing the cost of use.

[0167] It should be understood that the specific embodiments described above are only used to explain the present application, and the protection scope of the present application is not limited thereto. Any technical personnel familiar with the technical field can make changes, substitutions, and combinations within the technical scope disclosed in the present application according to the technical solution and concept of the present application, which should be covered by the protection scope of the present application.

Claims

1. A handle assembly, comprising a first split module and a second split module that are detachably connected; characterized in that: The first split module includes a rotation drive component, a translation drive component and a relay component; The second split module comprises an elongated end effector and a driven assembly fixedly connected to the end effector; In the assembled state of the first split module and the second split module, the relay component is transmission-connected with the driven component; During operation, the translation drive assembly and the rotation drive assembly drive the end actuator to translate along the longitudinal direction and rotate around the longitudinal direction via the relay assembly and the driven assembly respectively.

2. The handle assembly according to claim 1, characterized in that: The rotation drive assembly comprises a first motor and a rotation drive shaft connected to the first motor, and the translation drive assembly comprises a second motor and a translation drive shaft connected to the second motor; The rotation drive shaft and the translation drive shaft are arranged parallel to each other, with the extension direction of the rotation drive shaft as the axial direction and the direction perpendicular to the axial direction as the radial direction; When the first split module and the second split module are assembled, the relay assembly is driven by the second motor to translate along the translation drive shaft based on the screw nut transmission, and drives the driven assembly and the end actuator to translate along the longitudinal direction of the end actuator; When the first split module and the second split module are in an assembled state, the relay component drives the driven component to rotate based on gear transmission under the drive of the first motor, thereby driving the end actuator to rotate around the longitudinal direction of the end actuator.

3. The handle assembly according to claim 2, characterized in that: The relay assembly is provided with a connector extending in the radial direction, and the driven assembly includes a connecting groove; When the first split module and the second split module are in an assembled state, the connector is inserted into the connecting groove, and the relay assembly drives the driven assembly to move along the longitudinal direction of the end actuator via the connector and the connecting groove.

4. The handle assembly according to claim 3, characterized in that: An elastic damping body is arranged in the connecting groove, and the elastic damping body has a prescribed deformation allowance in the longitudinal direction of the end actuator; After the connecting head is inserted into the connecting groove, the elastic damping body is squeezed by the connecting head and compressed in the longitudinal direction of the end actuator.

5. The handle assembly according to claim 3, characterized in that: The relay assembly includes a first gear, and the driven assembly includes a third gear; When the first split module and the second split module are in an assembled state, the first gear is transmission-connected with the third gear, and the relay assembly drives the third gear via the first gear, thereby driving the driven assembly to rotate.

6. The handle assembly according to claim 5, characterized in that: The relay assembly also includes a second gear meshing with the first gear; When the first split module and the second split module are assembled, the second gear and the third gear mesh with each other, and the relay component drives the third gear through the first gear and the second gear, and then drives the driven component to rotate.

7. The handle assembly according to claim 6, characterized in that: The rotary drive shaft is non-circular and matches the inner hole of the first gear.

8. The handle assembly according to any one of claims 1 to 7, characterized in that: The end effector is sleeved with a sheath, one end of the sheath is used to be inserted into a human body cavity, and the other end is separated from the driven component by a specified interval in the longitudinal direction of the end effector; The second split module further comprises a sealing sleeve, one end of the sealing sleeve away from the driven component is sleeved on one end of the sheath sleeve close to the driven component, and the other end of the sealing sleeve close to the driven component is sleeved on the end actuator.

9. The handle assembly according to claim 8, characterized in that: The second split module further comprises a retractable sealing tube, one end of the retractable sealing tube away from the driven component is sleeved on one end of the sealing sleeve close to the driven component, and one end of the retractable sealing tube close to the driven component is sleeved on the driven component.

10. The handle assembly according to claim 2, characterized in that: The driven assembly comprises a driven gear connected to the end actuator and a transition gear meshing with the driven gear; A shaft head is provided at one end of the rotary drive shaft away from the first motor, and the cross section of the shaft head in the radial direction is non-circular; When the first split module and the second split module are in the assembled state, the shaft head is inserted into the inner hole of the transition gear that is adapted to the shaft head, and the rotating drive shaft drives the transition gear via the shaft head, and then drives the end actuator to rotate around the axial direction via the driven gear.

11. The handle assembly according to claim 10, characterized in that: The transition gear is rotatably connected to a gear frame extending along the radial direction, and the gear frame can drive the end actuator to translate synchronously along the axial direction.

12. The handle assembly according to claim 11, characterized in that: The gear rack has a guide boss extending along the radial direction, and the second split module is provided with a slide groove extending along the axial direction; The guide boss is clamped in the slide slot, so that the gear rack can translate along the slide slot in the axial direction.

13. The handle assembly according to claim 12, characterized in that: The driven gear is connected to an instrument fixing sleeve extending along the axial direction, and the driven gear is rotatably connected to the gear frame; The end effector is disposed in a manner of passing through the instrument fixing sleeve and the driven gear, and the driven gear drives the instrument fixing sleeve and further drives the end effector to rotate around the axial direction.

14. The handle assembly according to any one of claims 11 to 13, characterized in that: The gear rack is also provided with a gear rack clamping piece, and the relay assembly is correspondingly provided with a gear rack clamping slot; When the first split module and the second split module are in an assembled state, the gear rack clamping piece is clamped with the gear rack slot, so that the second motor drives the relay assembly and further drives the end actuator to translate along the axial direction via the gear rack.

15. The handle assembly according to claim 14, characterized in that: The gear rack clamping member comprises a gear rack clamping arm extending along the axial direction and a gear rack clamping joint extending along the radial direction from one end of the gear rack clamping arm away from the gear rack; When the first split module and the second split module are in an assembled state, the gear rack clamping joint is clamped with the gear rack clamping groove.

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