A surgical instrument driving device

Abstract

The utility model discloses a surgical instrument driving device, belonging to the technical field of medical instruments, comprising a storage unit and a driving unit; the inner wall of the outer shell of the storage unit and the outer wall of the inner shell are provided with a spiral storage groove for winding the instrument, and the inner end of the instrument is provided with a positioning terminal; the driving unit comprises a driving base, a driving gear and a driving disk; the driving base is located inside the inner shell, and the driving gear is installed inside the driving base and located beside the central column of the base through a docking shaft and a bearing; the driving disk is rotatably installed on the central column of the base through a bearing, and a gear ring is provided on the inner wall of the lower part, and a driving wire fixing block is installed in the groove of the upper part; the inner shell and the driving base are provided with relative terminal fixing grooves, and the two are buckled up and down to fix the positioning terminal of the instrument. The device can reduce the resistance encountered during axial driving, adapt to driving wires with greater rigidity, and the axial movement distance of the driving wire is longer.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a device for driving flexible instruments to perform surgery. Background Art

[0002] Diseases of natural cavities such as the digestive system, urinary system, and respiratory system are common major chronic diseases. Diseases such as gastric cancer, esophageal cancer, colorectal cancer, bladder cancer, and lung cancer have high morbidity and mortality rates, which seriously endanger human health. Diagnosis and treatment with flexible endoscopes in conjunction with related surgical instruments has become the mainstream treatment method, with the characteristics of less trauma, less bleeding, and low complication rate.

[0003] As we all know, unlike conventional large incision surgeries, the operating space for interventional surgeries through human cavities is often narrow, and usually requires the use of flexible instruments for diagnosis and treatment. There are a wide variety of existing flexible instruments, such as but not limited to clamps, electrocoagulation and electrocution, injections, guides, etc., which can meet different operating requirements in narrow environments. Most of the current surgical instruments are designed based on manual operation. In order to meet the needs of cavity intervention, the existing flexible instruments are designed as flexible and slender instruments, which require the cooperation of medical staff during use and are complicated to operate; in addition, flexible and slender instruments are easy to come into contact with dirt, which poses a risk of contamination, and there is also the possibility of cross-infection during the retrieval of the instrument. Different surgical instruments are required for different surgical scenarios, such as biopsy forceps, injection needles, snares, etc., and the instruments need to be able to achieve overall delivery and axial movement of the instrument drive wire.

[0004] In order to provide improved control of the operating tool, it is desirable to use a remotely operated drive unit to control the instrument. The doctor can operate the operating unit on the console to control the instrument connected to the drive unit. The instrument is detachably connected to the operating drive so that the instrument can be sterilized or replaced back and forth separately and selected for use as the instrument required in the upcoming surgical procedure. The instrument can be replaced or changed during the operation.

[0005] The disadvantage of the existing solution is that when the instrument drive wire drive unit faces a drive wire with greater rigidity, the curvature of the rear drive disk is too large, resulting in excessive bending of the drive wire and greater resistance to axial drive. In addition, the axial movement distance of the instrument drive wire achieved by the existing solution is relatively short, which cannot meet the actual needs of doctors when facing the use of large-sized snares and other instruments. Utility Model Content

[0006] The purpose of the utility model is to provide a surgical instrument driving device to solve the above technical problems.

[0007] To achieve the above-mentioned purpose, the utility model provides a surgical instrument driving device, comprising a storage unit and a driving unit;

[0008] The storage unit comprises an outer shell and an inner shell, the inner wall of the outer shell and the outer wall of the inner shell are provided with a spiral storage groove for winding the device, and the inner end of the device is provided with a positioning terminal;

[0009] The driving unit comprises a driving base, a driving gear and a driving disk; the driving base is located inside the inner shell, and its main body is an annular body with a base center column at the center; the driving gear is installed inside the driving base through a docking shaft and a bearing and is located beside the base center column; the driving disk is rotatably installed on the base center column through a bearing, and the inner wall of the lower part is provided with a gear ring meshing with the driving gear, and a driving wire fixing block is installed in the groove of the upper part;

[0010] The inner shell and the driving base are provided with relative terminal fixing grooves, and the two are buckled up and down to fix the positioning terminal of the instrument; the driving base is provided with a circumferential arc groove for accommodating the instrument driving wire on the inner wall near the top, and at least a part of the outer wall of the driving disk is matched with the inner wall of the driving base provided with the arc groove, and the inner end of the driving wire of the instrument is inserted into the spline hole of the driving wire fixing block and fixed.

[0011] Optionally, the annular body of the driving base is provided with a notch at the top, and a first terminal fixing groove is provided at the bottom of the notch, the first terminal fixing groove is bent and extended from the outer wall to the inner wall of the annular body, one end of which is connected with the spiral storage groove, and the other end is connected with the circular arc groove; the inner shell is provided with a terminal positioning block on the inner wall near the top, and the lower surface of the terminal positioning block is provided with a second terminal fixing groove, and when the terminal positioning block is buckled with the notch up and down, the first terminal fixing groove and the second terminal fixing groove are aligned to form a completed terminal fixing groove, thereby fixing the positioning terminal of the device.

[0012] Optionally, the first terminal fixing groove and the second terminal fixing groove each include an instrument body accommodating groove located at one end, a positioning terminal accommodating groove located in the middle and an instrument drive wire accommodating groove located at the other end, the radial dimension of the positioning terminal accommodating groove is larger than the radial dimension of the instrument body accommodating groove, and the radial dimension of the instrument body accommodating groove is larger than the radial dimension of the instrument drive wire accommodating groove.

[0013] Optionally, the inner wall of the driving base close to the top is provided with a first step and a second step, the arc groove is provided on a vertical surface of the second step, and the outer wall of the driving disk is provided with corresponding third and fourth steps.

[0014] Optionally, the upper half of the central column of the base includes a stepped shaft, and the driving disc is mounted on the stepped shaft through its central stepped hole and two upper and lower bearings.

[0015] Optionally, a limit block is provided on the inner surface of the driving base, and a corresponding rotation groove is provided on the outer wall of the lower end of the driving disk to limit the rotation of the driving disk within a set angle.

[0016] Optionally, the upper portion of the driving disk is a disc body, and the lower portion is a circular sleeve body.

[0017] Optionally, the driving base is provided with a bottom plate, one side of the bottom plate is provided with a radial mounting hole, a top ball supported by a preloaded spring is provided in the mounting hole, and in an initial position, the top ball passes through a corresponding through hole on the inner shell and is snapped into a slot on the inner wall of the outer shell.

[0018] Optionally, one side of the slot is a vertical surface, and the other side is a rounded surface.

[0019] Optionally, the inner end of the driving wire of the instrument is fixed in the spline hole of the driving wire fixing block through a top screw.

[0020] Optionally, the positioning terminal of the device is cylindrical with a diameter greater than the diameter of its body.

[0021] Optionally, a magnet for achieving installation induction is provided on the bottom plate of the driving base.

[0022] Optionally, the housing is provided with an instrument guide hole and a guide interface along a tangential direction near the bottom.

[0023] Optionally, it also includes a locking unit; the locking unit includes a release switch and a locking pin; the release switch is installed in the vertical center hole of the center column of the base and can slide up and down along the center hole, a switch reset spring is provided between the release switch and the upper end of the center hole, and the pressing part of the release switch is located at the top of the shell; the locking pin is installed on the radial sliding sleeve at the bottom of the driving base, the outer end of the locking pin is provided with a locking joint, the lower end of the release switch is connected to the inner end of the locking pin through a transmission component to drive the locking pin to move in the radial direction, and a locking pin reset spring is provided between the locking pin and the sliding sleeve.

[0024] Optionally, the main body of the release switch is a split structure, including a vertical rod body and a switch pin, the lower end of the vertical rod body is in contact with or has a gap with the upper end of the switch pin, and the inner end of the pin is connected to the lower end of the switch pin through a transmission component.

[0025] Optionally, the transmission component between the lower end of the switch bayonet and the bayonet includes a connecting rod, one end of the connecting rod is hinged to the lower end of the switch bayonet, and the other end of the connecting rod is hinged to the inner end of the bayonet.

[0026] Optionally, the switch pin is provided with a limiting portion, and the limiting portion contacts the bottom surface of the driving base, so that the switch pin and the connecting rod maintain an angle that avoids reaching a dead point position.

[0027] Optionally, the limiting portion is a stepped boss, and the upper surface of the stepped boss contacts the bottom surface of the driving base.

[0028] Optionally, the lower surface of the connecting rod is an arc surface, and the inner end of the sliding sleeve is provided with a corresponding arc boss. When the bayonet moves in the radial direction, the connecting rod slides and cooperates with the arc boss through the arc surface.

[0029] The surgical instrument driving device provided by the utility model has a circumferential arc groove on the inner wall of the driving base near the top to accommodate the instrument driving wire. Compared with the method of arranging a driving disk with a smaller diameter inside to accommodate the driving wire, the curvature is relatively smaller, the driving wire will not be excessively bent, and the resistance encountered during axial driving can be significantly reduced, and it can well adapt to the driving wire with greater rigidity; moreover, because the circumference of the arc groove is greater than the circumference of the existing built-in driving disk, the axial movement distance of the driving wire is longer, which is suitable for operating large-sized snares and other instruments, thereby meeting the actual needs of doctors. In addition, the driving disk is installed on the central column of the base through a bearing, and the rotational driving resistance is small and the driving torque is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a surgical instrument driving device provided by an embodiment of the utility model;

[0031] Figure 2 for Figure 1 A top view of the surgical instrument drive device shown;

[0032] Figure 3 for Figure 2 AA view of the surgical instrument drive device shown;

[0033] Figure 4 for Figure 3 BB view of the surgical instrument drive device shown;

[0034] Figure 5 for Figure 4 A partial enlarged view of

[0035] Figure 6 for Figure 1 A side view of the surgical instrument drive device shown;

[0036] Figure 7 for Figure 6 CC view of the surgical instrument drive device shown;

[0037] Figure 8 for Figure 6 A bottom view of the surgical instrument drive device shown;

[0038] Fig. 9 for Figure 3 A top view of the inner shell shown in;

[0039] Fig.10 for Fig. 9 an axonometric view of the inner shell shown;

[0040] Fig.11 for Fig.10 A partial enlarged view of the inner shell shown;

[0041] Fig.12 for Figure 3 A top view of the drive base shown in;

[0042] Fig.13 for Fig.12 an isometric view of the drive base shown;

[0043] Fig.14 for Fig.13 A partial enlarged view of

[0044] Fig.15 for Figure 3 An axonometric view of the drive disc shown in;

[0045] Fig.16 for Fig.15 a bottom view of the drive disc shown;

[0046] Fig.17 for Fig.15 a side view of the drive disc shown;

[0047] Fig.18 for Figure 4 Axonometric view of the drive wire fixing block shown in ;

[0048] Fig.19 for Fig.18 A top view of the drive wire fixing block shown;

[0049] Fig. 20 for Fig.18 An axonometric view of the drive wire fixing block shown from another perspective.

[0050] In the figure:

[0051] 10. Storage unit 11. Housing 111. Instrument guide hole 112. Guide interface 113. Inner cone sleeve 12. Inner housing 121. Spiral storage groove 122. Terminal positioning block 20. Driving unit 21. Driving base 211. Base center column 212. Arc groove 213. Notch 214. Limit block 215. Bottom plate 22. Driving disk 221. Gear ring 222. Groove 223. Rotating groove 23. Driving gear 24. Docking shaft 25. First bearing 26. Second bearing 27. Driving wire Fixed block 271. Spline hole 272. Top screw hole 28. Terminal fixing groove 281. First terminal fixing groove 282. Second terminal fixing groove 30. Card connection unit 31. Release switch 311. Vertical rod 312. Switch bayonet 32. Switch reset spring 33. Sleeve 331. Arc boss 34. Bayonet 341. Card joint 35. Connecting rod 36. Bayonet reset spring 40. Instrument 41. Positioning terminal 42. Driving wire 50. Magnet 61. Top ball 62. Preload spring 63. Card groove. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0053] In this article, the terms "upper, lower, inside, outside" and the like are established based on the positional relationships shown in the drawings. The corresponding positional relationships may also change depending on the drawings, and therefore cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" and the like are merely used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0054] Please refer to Figures 1 to 5 , Figure 1 A schematic diagram of the structure of a surgical instrument driving device provided by an embodiment of the utility model; Figure 2 for Figure 1 A top view of the surgical instrument drive device shown; Figure 3 for Figure 2 AA view of the surgical instrument drive device shown; Figure 4 for Figure 3 BB view of the surgical instrument drive device shown; Figure 5 for Figure 4 A partial enlarged view of .

[0055] As shown in the figure, in a specific embodiment, the surgical instrument driving device provided by the present invention is mainly composed of a storage unit 10, a driving unit 20 and a clamping unit 30.

[0056] Among them, the storage unit 10 is further mainly composed of an outer shell 11 and an inner shell 12. The outer shell 11 is provided with an instrument guide hole 111 and a guide interface 112 in a tangential direction near the bottom. The head end of the instrument 40 is led out from the instrument guide hole 111, and the guide hole buckle can be rotatably engaged with an external guide tube. The inner wall of the outer shell 11 and the outer wall of the inner shell 12 are provided with a spiral storage groove 121 for winding the instrument. Through the relative rotation of the inner shell 12 and the outer shell 11, the instrument 40 can be stored in the spiral storage groove 121.

[0057] A positioning terminal 41 is provided at the inner end of the instrument 40. The positioning terminal 41 is cylindrical with a diameter larger than the diameter of the instrument 40 body so that it can be fixed by snapping. The driving wire 42 of the instrument 40 is led out from the rear end of the positioning terminal 41 and extends a certain distance inward. In addition to being able to output and retract in the axial direction, the driving wire 42 of the instrument 40 can move in the axial direction relative to the instrument 40, thereby realizing various micro-operations.

[0058] The driving unit 20 is mainly composed of a driving base 21, a driving disk 22, a driving gear 23 and other parts. The driving base 21 is located inside the inner shell 12, and its main part is a toroidal body with a base center column 211 at the center; the driving gear 23 is installed inside the driving base 21 through a docking shaft 24 and a first bearing 25 and is located beside the base center column 211. In order to reduce the volume as much as possible and avoid interference between the driving gear 23 and the base center column 211, a notch corresponding to the driving gear 23 is provided on the side of the base center column 211.

[0059] The upper part of the center column 211 of the base includes a stepped shaft, and the driving disk 22 is installed on the stepped shaft through its center stepped hole and two upper and lower second bearings 26 (such as flange bearings). Due to the bearings, the rotational drive resistance is small and the driving torque is large. The inner wall of the lower part of the driving disk 22 is provided with a gear ring 221 that meshes with the driving gear 23 for transmission. A driving wire fixing block 27 is installed in the groove 222 at the upper part. The inner end of the driving wire 42 of the instrument 40 is inserted into the spline hole 271 of the driving wire fixing block 27 and fixed.

[0060] The inner shell 12 and the driving base 21 are provided with relative terminal fixing grooves 28, and the two are buckled up and down to fix the positioning terminal 41 of the instrument 40; the driving base 21 is provided with a circumferential arc groove 212 for accommodating the instrument driving wire on the inner wall near the top, and at least a part of the outer wall of the driving disk 22 cooperates with the inner wall of the driving base 21 provided with the arc groove 212, that is, the driving disk 22 seals the opening of the arc groove 212 through its outer wall, thereby constraining the driving wire 42 in the arc groove 212, ensuring that the moving path of the driving wire 42 is unique, and preventing the driving wire 42 from moving.

[0061] In this embodiment, the inner wall of the driving base 21 near the top is provided with a first step a and a second step b, the arc groove 212 is provided on the vertical surface of the second step b, and the outer wall of the driving disk 22 is provided with a corresponding third step c and a fourth step d, and the vertical surface of the fourth step d matches the vertical surface of the second step b provided with the arc groove 212.

[0062] Please refer to Figures 6 to 8 , Figure 6 for Figure 1 A side view of the surgical instrument drive device shown; Figure 7 for Figure 6 CC view of the surgical instrument drive device shown; Figure 8 for Figure 6 A bottom view of the surgical instrument drive assembly is shown.

[0063] As shown in the figure, regarding the card connection unit 30, the base center column 211 is provided with a base center hole that passes through from top to bottom. The release switch 31 is generally T-shaped, with a disc-shaped pressing portion at the upper end and a vertical main body that is a rectangular parallelepiped. The entire release switch 31 passes through the base center hole from top to bottom and can move up and down in the base center hole.

[0064] The upper surface of the pressing portion of the release switch 31 forms a part of the upper surface of the outer shell 11 and is located at the center of the upper surface of the outer shell 11. The top cover of the outer shell 11 is provided with an inner cone sleeve 113 located below the opening. The inner cone sleeve 113 can guide the release switch 31 to move up and down to avoid the release switch 31 from being tilted, so that it can always be in a centered position.

[0065] A switch reset spring 32 is provided between the lower surface of the pressing portion of the release switch 31 and the upper end of the base center column 211. The pressing portion of the release switch 31 is provided with a stepped cone at the outer edge, and the top cover of the outer shell 11 is provided with a corresponding stepped step. Under the action of the switch reset spring 32, the stepped cone fits with the stepped step to prevent the release switch 31 from separating from the outer shell 11.

[0066] Two radially symmetrical sliding sleeves 33 are provided on the lower surface of the driving base 21, and two bayonet pins 34 are symmetrically installed in the two sliding sleeves 33. The outer end of the bayonet pin 34 is provided with a bayonet joint 341. The main body of the release switch 31 is a split structure, which is divided into a vertical rod body 311 and a switch bayonet pin 312. The lower end of the vertical rod body 311 is in contact with or has a spacing with the upper end of the switch bayonet pin 312. The lower end of the switch bayonet pin 312 is connected to the inner end of the bayonet pin 34 through a connecting rod 35. One end of the connecting rod 35 is hinged to the inner end of the bayonet pin 34, and the other end of the connecting rod is hinged to the lower end of the switch bayonet pin 312.

[0067] The vertical rod body 311 of the release switch 31 can drive the latch pin 34 to move in the radial direction through the switch latch pin 312 and the connecting rod 35 to realize the latching and releasing functions. A latch pin reset spring 36 is provided between the latch pin 34 and the sliding sleeve 33. Under the action of the latch pin reset spring 36, the latch pin 34 can automatically return to its original position after release.

[0068] Specifically, the lower surface of the connecting rod 35 is an arc surface, and the inner end of the sliding sleeve 33 is provided with a corresponding arc boss 331. The arc boss 331 extends inward in the radial direction, and its upper surface is in an arc shape, and its longitudinal projection is U-shaped. That is to say, the arc boss 331 is in a forked shape. When the pin 34 moves in the radial direction, the arc surface of the lower surface of the connecting rod 35 can slide with the arc boss 331, so that the connecting rod 35 can rotate more smoothly without sticking, and the operation feels smoother.

[0069] When the release switch 31 is pressed downward, its lower end moves downward, driving the connecting rod 35 to rotate through the switch latch 312, and the latch 34 moves radially inward under the pulling force of the connecting rod 35, at which time the switch reset spring 32 and the latch reset spring 36 are both in a compressed state. When the pressure of the release switch 31 disappears, the release switch 31 moves upward and resets under the action of the switch reset spring 32, and the latches 34 on both sides return to the initial state under the action of the latch reset spring 36.

[0070] Of course, as a feasible implementation method, the switch latch 312, the connecting rod 35, and the latch 34 can also be a part, which can achieve locking and resetting through its own deformation when pressed. If this structure is adopted, the part corresponding to the connecting rod 35 is equivalent to the transmission component, that is, the transmission component can be either integrated or separated.

[0071] The front end of the bayonet 34 is a trapezoid, the rear end is a stepped shaft, and the end is provided with a pin hole. The bayonet reset spring 36 is installed on the thin cylindrical shaft of the bayonet 34. When assembling, the bayonet 34 is inserted into the sliding sleeve 33 from the outside. The inner hole of the sliding sleeve 33 is a circular hole, and a baffle is provided on the inside to allow the inner end of the bayonet 34 to pass through. The clamping joint at the outer end of the bayonet 34 is a widened trapezoid, and is designed with an inclined surface to achieve sliding clamping with the instrument driving component (not shown in the figure) through the inclined surface.

[0072] The switch pin 312 is provided with a limiting portion, and contacts the bottom surface of the driving base 21 through the limiting portion, so that a suitable angle is maintained between the switch pin 312 and the connecting rod 35 to avoid reaching a dead point position.

[0073] In this embodiment, the limiting portion is a stepped boss, and the switch latch 312 contacts the bottom surface of the driving base 21 through the upper surface of the stepped boss.

[0074] This mechanical snap-in structure can ensure high reliability and stability of the snap-in, and one-touch disassembly. By pressing the release switch, the doctor can disassemble and assemble the entire instrument with one hand, reducing time costs and improving surgical efficiency.

[0075] Please refer to Figures 9 to 14 , Fig. 9 for Figure 3 A top view of the inner shell shown in; Fig.10 for Fig. 9 an axonometric view of the inner shell shown; Fig.11 for Fig.10 A partial enlarged view of the inner shell shown; Fig.12 for Figure 3 A top view of the drive base shown in; Fig.13 for Fig.12 an isometric view of the drive base shown; Fig.14 for Fig.13 A partial enlarged view of .

[0076] As shown in the figure, the annular body of the driving base 21 is provided with a notch 213 at the top, and a first terminal fixing groove 281 is provided at the bottom of the notch 213. The first terminal fixing groove 281 is bent and extended from the outer wall of the annular body to the inner wall, one end of which is connected with the spiral receiving groove 121, and the other end is connected with the arc groove 212; the inner shell 12 is provided with a terminal positioning block 122 on the inner wall near the top, and the lower surface of the terminal positioning block 122 is provided with a second terminal fixing groove 282. When the terminal positioning block 122 is buckled with the notch 213 up and down, the first terminal fixing groove 281 and the second terminal fixing groove 282 are aligned to form a completed terminal fixing groove 28, thereby fixing the positioning terminal 41 of the instrument 40.

[0077] Specifically, the first terminal fixing groove 281 and the second terminal fixing groove 282 each include an instrument body accommodating groove e located at one end, a positioning terminal accommodating groove f located in the middle, and an instrument drive wire accommodating groove g located at the other end, the radial dimension of the positioning terminal accommodating groove f is larger than the radial dimension of the instrument body accommodating groove g, and the radial dimension of the instrument body accommodating groove g is larger than the radial dimension of the instrument drive wire accommodating groove e.

[0078] The positioning terminal 41 at the end of the instrument is fixed by buckling the driving base 21 and the inner shell 12 up and down, and the structure is reliable and easy to operate.

[0079] A limit block 214 is provided on the inner surface of the driving base 21, and a corresponding rotation groove 223 is provided on the outer wall of the lower end of the driving disk 22 to limit the rotation of the driving disk 22 within a set angle. In other words, the axial movement of the driving wire 42 is controlled within a designed range to avoid excessive movement of the driving wire 42, which is simple and reliable.

[0080] The driving base 21 is provided with a bottom plate 215, and the bottom plate 215 is hollowed out. A magnet 50 is arranged on the bottom plate 215 of the driving base 21 for realizing induction when the device is installed on the driver. A radial mounting hole is arranged on one side of the bottom plate 215, and a top ball 61 supported by a preloaded spring 62 is arranged in the mounting hole. In the initial state, the top ball 61 passes through the corresponding through hole on the inner shell 12 and is inserted into the slot 63 on the inner wall of the outer shell 11. One side of the slot 63 is a vertical surface, and the other side is a rounded surface, thereby limiting the inner shell 12 from continuing to rotate toward the vertical plane relative to the outer shell 11.

[0081] Please refer to Figures 15 to 20 , Fig.15 for Figure 3 An axonometric view of the drive disc shown in; Fig.16 for Fig.15 a bottom view of the drive disc shown; Fig.17 for Fig.15 a side view of the drive disc shown; Fig.18 for Figure 4 Axonometric view of the drive wire fixing block shown in ; Fig.19 for Fig.18 A top view of the drive wire fixing block shown; Fig. 20 for Fig.18 An axonometric view of the drive wire fixing block shown from another perspective.

[0082] As shown in the figure, the upper part of the driving disk 22 is a disc body and the lower part is a circular sleeve body. Since the disc body is provided with a third step c and a fourth step d, its diameter is larger than the diameter of the circular sleeve body. The circular sleeve body is provided with a hollow part, and its outer wall is provided with a rotating groove 223 corresponding to the limit block 214, and the inner wall of the circular sleeve body is provided with a gear ring 221. The top of the disc body is provided with a fan-shaped groove 222 for installing the driving wire fixing block 27.

[0083] The drive wire fixing block 27 is generally in the shape of an annular sector, and its shape is generally consistent with the groove 222 of the drive disk 22. After being installed in the groove 222, a relatively complete drive disk 22 can be formed. For this purpose, a third step c and a fourth step d consistent with the drive disk 22 are provided on the outer wall of the drive wire fixing block 27.

[0084] In order to fix the inner end of the driving wire 42, a spline hole 271 is designed inside the driving wire fixing block 27. One end of the spline hole 271 is located on the outer wall of one end of the driving wire fixing block 27, and is bent and extended inwardly in a tangential direction until it passes through the inner wall of the other end of the driving wire fixing block 27.

[0085] The top of the driving wire fixing block 27 is provided with two top screw holes 272 which are vertically connected to the spline holes 271, and the inner end of the driving wire 42 can be fixed in the spline holes 271 by screwing in the two top screws 272. In this way, when the driving wire fixing block 27 rotates with the driving disk 22, the driving wire 42 can be driven to move forward or backward relative to the instrument body.

[0086] The above embodiments are only preferred solutions of the present invention and are not limited thereto. On this basis, targeted adjustments can be made according to actual needs to obtain different implementation methods. For example, the drive wire fixing block 27 can be designed into other shapes, etc. Since there are many possible implementation methods, they will not be described one by one here.

[0087] The present invention can be used in conjunction with a doctor, nurse or technician robot, and can be adapted to various instruments used in endoscopic surgery scenarios, such as biopsy forceps, electric snares, injection needles, etc. Since the curvature of the arc groove 212 that accommodates the drive wire 42 is small, the drive wire 42 will not bend excessively. Moreover, the drive disk 22 is mounted on the center column 211 of the base through a bearing, and the rotational drive resistance is small and the drive torque is large, thereby reducing the resistance encountered during axial drive, and can well adapt to the drive wire 42 with greater rigidity. In addition, since the arc groove 212 has a larger circumference, the axial movement distance of the drive wire 42 is longer, which is suitable for operating large-sized snares and other instruments, thereby meeting the actual needs of doctors.

[0088] The above is a detailed introduction to the surgical instrument drive device provided by the utility model. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiments is only used to help understand the core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A surgical instrument driving device, characterized in that: including a storage unit and a driving unit; The storage unit comprises an outer shell and an inner shell, the inner wall of the outer shell and the outer wall of the inner shell are provided with a spiral storage groove for winding the device, and the inner end of the device is provided with a positioning terminal; The driving unit comprises a driving base, a driving gear and a driving disk; the driving base is located inside the inner shell, and its main body is an annular body with a base center column at the center; the driving gear is installed inside the driving base through a docking shaft and a bearing and is located beside the base center column; the driving disk is rotatably installed on the base center column through a bearing, and the inner wall of the lower part is provided with a gear ring meshing with the driving gear, and a driving wire fixing block is installed in the groove of the upper part; The inner shell and the driving base are provided with relative terminal fixing grooves, and the two are buckled up and down to fix the positioning terminal of the instrument; the driving base is provided with a circumferential arc groove for accommodating the instrument driving wire on the inner wall near the top, and at least a part of the outer wall of the driving disk is matched with the inner wall of the driving base provided with the arc groove, and the inner end of the driving wire of the instrument is inserted into the spline hole of the driving wire fixing block and fixed.

2. The surgical instrument driving device according to claim 1, characterized in that: The annular body of the driving base is provided with a notch at the top, and a first terminal fixing groove is provided at the bottom of the notch, the first terminal fixing groove is bent and extended from the outer wall to the inner wall of the annular body, one end of which is connected with the spiral receiving groove, and the other end is connected with the circular arc groove; the inner shell is provided with a terminal positioning block on the inner wall near the top, and the lower surface of the terminal positioning block is provided with a second terminal fixing groove, when the terminal positioning block is buckled with the notch up and down, the first terminal fixing groove and the second terminal fixing groove are aligned to form a completed terminal fixing groove, thereby fixing the positioning terminal of the device.

3. The surgical instrument driving device according to claim 2, characterized in that: The first terminal fixing groove and the second terminal fixing groove each include an instrument body accommodating groove located at one end, a positioning terminal accommodating groove located in the middle, and an instrument drive wire accommodating groove located at the other end, the radial dimension of the positioning terminal accommodating groove is larger than the radial dimension of the instrument body accommodating groove, and the radial dimension of the instrument body accommodating groove is larger than the radial dimension of the instrument drive wire accommodating groove.

4. The surgical instrument driving device according to claim 1, characterized in that: The inner wall of the driving base close to the top is provided with a first step and a second step, the arc groove is provided on a vertical surface of the second step, and the outer wall of the driving disk is provided with corresponding third and fourth steps.

5. The surgical instrument driving device according to claim 1, characterized in that: The upper part of the central column of the base includes a stepped shaft, and the driving disc is installed on the stepped shaft through its central stepped hole and two upper and lower bearings.

6. The surgical instrument driving device according to claim 1, characterized in that: A limit block is arranged on the inner surface of the driving base, and a corresponding rotation groove is arranged on the outer wall of the lower end of the driving disk to limit the rotation of the driving disk within a set angle.

7. The surgical instrument driving device according to claim 6, characterized in that: The upper part of the driving disc is a disc body, and the lower part is a circular sleeve body.

8. The surgical instrument driving device according to claim 7, characterized in that: The driving base is provided with a bottom plate, one side of the bottom plate is provided with a radial mounting hole, a top ball supported by a preloaded spring is provided in the mounting hole, and in an initial position, the top ball passes through a corresponding through hole on the inner shell and is snapped into a slot on the inner wall of the outer shell.

9. The surgical instrument driving device according to claim 8, characterized in that: One side of the slot is a vertical surface, and the other side is a rounded surface.

10. The surgical instrument driving device according to claim 1, characterized in that: The inner end of the driving wire of the instrument is fixed in the spline hole of the driving wire fixing block through a top screw.

11. The surgical instrument driving device according to claim 1, characterized in that: The positioning terminal of the device is in a cylindrical shape with a diameter larger than that of the body thereof.

12. The surgical instrument driving device according to claim 1, characterized in that: A magnet for achieving installation induction is arranged on the bottom plate of the driving base.

13. The surgical instrument driving device according to claim 1, characterized in that: The shell is provided with an instrument guide hole and a guide interface along the tangential direction at a position close to the bottom.

14. The surgical instrument driving device according to any one of claims 1 to 13, characterized in that: It also includes a card connection unit; the card connection unit includes a release switch and a card pin; the release switch is installed in the vertical center hole of the center column of the base and can slide up and down along the center hole, a switch reset spring is provided between the release switch and the upper end of the center hole, and the pressing part of the release switch is located at the top of the shell; the card pin is installed on the radial sliding sleeve at the bottom of the driving base, the outer end of the card pin is provided with a card joint, the lower end of the release switch is connected to the inner end of the card pin through a transmission component to drive the card pin to move in the radial direction, and a card pin reset spring is provided between the card pin and the sliding sleeve.

15. The surgical instrument driving device according to claim 14, characterized in that: The main body of the release switch is a split structure, including a vertical rod body and a switch pin, the lower end of the vertical rod body is in contact with or spaced from the upper end of the switch pin, and the inner end of the pin is connected to the lower end of the switch pin through a transmission component.

16. The surgical instrument driving device according to claim 15, characterized in that: The transmission component between the lower end of the switch bayonet and the bayonet comprises a connecting rod, one end of the connecting rod is hinged to the lower end of the switch bayonet, and the other end of the connecting rod is hinged to the inner end of the bayonet.

17. The surgical instrument driving device according to claim 16, characterized in that: The switch bayonet is provided with a limiting portion, and the limiting portion contacts the bottom surface of the driving base, so that the switch bayonet and the connecting rod maintain an angle that avoids reaching a dead point position.

18. The surgical instrument driving device according to claim 17, characterized in that: The limiting portion is a stepped boss, and the upper surface of the stepped boss contacts the bottom surface of the driving base.

19. The surgical instrument driving device according to claim 16, characterized in that: The lower surface of the connecting rod is an arc surface, and the inner end of the sliding sleeve is provided with a corresponding arc boss. When the bayonet moves in the radial direction, the connecting rod slides and cooperates with the arc boss through the arc surface.

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