Wheel disc line drive joint mechanism and surgical instrument

Abstract

The utility model discloses a wheel disc line drive joint mechanism and a surgical instrument, and relates to the field of medical instruments. The wheel disc line drive joint mechanism comprises a joint set, a base, a first control disc, a second control disc and a drive line. A user can control the first control disc and / or the second control disc to rotate relative to the base, so that the control discs can act on the driving lines to drive the joint sets to adjust the bending angle of the joint sets in the direction of the extending axis of the joint sets, and therefore the first control disc and the second control disc flexibly adjust the movement position of a front-end instrument connected to the joint sets. Therefore, the application requirements in a complicated operation environment are met. The structural design of the control end is optimized, the universal movement of the front-end instrument is effectively controlled, the movement range of the front-end instrument is prevented from being limited, and the purpose of improving the capability of flexibly driving the front-end instrument to perform the universal movement is achieved; the wheel disc line-driven joint mechanism provided by the utility model can improve the control precision and effect of medical personnel on the operation process.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of medical apparatus and instruments, and particularly relates to a wheel disc wire driven joint mechanism and surgical instrument. BACKGROUND

[0002] Minimally invasive surgery is a kind of surgery through small incision or natural orifice, compared with traditional open surgery, has the advantages such as small trauma, quick recovery, short hospitalization time. With the development of medical technology, minimally invasive surgical instruments are also constantly updated and improved. Among them, the universal rotation minimally invasive surgical instrument is an important tool, which can realize accurate operation of the surgical site and reduce the risk of surgery.

[0003] The current universal motion minimally invasive surgical instrument is realized by the joint control form of two direction superimposed stroke. Although this structure can realize the universal rotation of part of the area, its flexibility is actually limited and cannot completely realize the universal motion. The unreasonable structure design of the control end cannot effectively control the universal motion of the front end structure, which affects the control accuracy and effect of the medical personnel on the operation process. Therefore, the existing universal motion minimally invasive surgical instrument is difficult to meet the application requirements in complex surgical environment in actual application. SUMMARY

[0004] To solve the technical problems in the background art, the utility model provides a wheel disc wire driven joint mechanism, which comprises:

[0005] A joint group is adapted to be fixedly connected with the front end instrument;

[0006] A base is fixedly connected with the joint group;

[0007] A first control disc is rotationally connected with the base;

[0008] A second control disc is rotationally connected with the base, and the second control disc and the first control disc are spaced apart and arranged to avoid each other;

[0009] And a driving wire is provided with at least two; at least one driving wire is fixedly connected to the first control disc, and at least one driving wire is fixedly connected to the second control disc; the driving wire and the base are slidingly arranged, and the distal end of any driving wire is fixedly connected with the joint group;

[0010] The wheel disc wire driven joint mechanism has an initial straight line state and an adjustment state. In the adjustment state, the driving wire can drive the joint group by controlling the relative rotation of the first control disc and / or the second control disc relative to the base, so as to adjust the bending angle of the joint group along the extension axis direction.

[0011] As a preferred technical scheme, the base comprises a fixedly connected coupling plate and an assembly plate, the coupling plate is adapted to be fixedly connected with the proximal end of the joint group; and the first control disc and the second control disc are rotatably connected on two sides of the assembly plate.

[0012] As a preferred technical scheme, the coupling plate is provided with a first wire hole and a second wire hole, the first wire hole and the second wire hole are arranged in a spaced manner, the first wire hole and the driving wire fixedly connected with the first control disc correspondingly slide and connect, and the second wire hole and the driving wire fixedly connected with the second control disc correspondingly slide and connect.

[0013] The assembly plate is provided with a mounting hole, and the first control disc and the second control disc are rotatably mounted on the mounting hole.

[0014] As a preferred technical scheme, the assembly plate is provided with a first guide wheel and a second guide wheel, any guide wheel is rotatably connected or fixedly connected with the assembly plate, the first guide wheel and the first control disc are arranged in a spaced manner, the first guide wheel and the driving wire fixedly connected with the first control disc correspondingly slide and connect, the second guide wheel and the second control disc are arranged in a spaced manner, and the second guide wheel and the driving wire fixedly connected with the second control disc correspondingly slide and connect.

[0015] As a preferred technical scheme, the assembly plate is provided with a plurality of assembly holes, and the first guide wheel and the second guide wheel are respectively mounted on the assembly holes.

[0016] As a preferred technical scheme, the base further comprises a connecting member, one end of the connecting member is fixedly connected with the joint group, the other end of the connecting member is fixedly connected with the base, the connecting member is provided with a through cavity, and all the driving wires are arranged in the through cavity.

[0017] As a preferred technical scheme, the coupling plate is provided with a coupling groove on the side facing the connecting member, and the connecting member is inserted and connected in the coupling groove.

[0018] As a preferred technical scheme, the joint group comprises a top cover, a joint monomer and a joint seat which are connected in series and transmit power to each other, the joint monomer is provided with at least three, all the joint monomers are sequentially connected in series between the top cover and the joint seat, the driving wire is fixedly connected with the top cover, the driving wire slideably connects with the joint monomer, and the driving wire slideably connects with the joint seat.

[0019] As a preferred technical scheme, the joint monomer is provided with a wire passing hole, the driving wire is slidably arranged in the wire passing hole, and the wire passing hole is arranged in correspondence with the driving wire; one side of the joint monomer is provided with a connecting cavity, the connecting cavity is provided with a connecting part, and the side of the joint monomer away from the connecting cavity is provided with a transmission part; and the two joint monomers adjacent to each other are arranged in transmission connection through the connecting cavity, the connecting part and the transmission part.

[0020] As a preferred technical scheme, the two joint monomers adjacent to each other are arranged in spherical surface connection, the transmission part is configured as two transmission protrusions arranged in pairs and at intervals, each transmission protrusion is provided with an outer spherical surface, an inner spherical surface is formed on the wall surface of the connecting cavity, the outer spherical surface and the inner spherical surface are matched through spherical surface friction, and the end surfaces of the transmission protrusions arranged in pairs face each other and are provided with an inner limiting surface; and the connecting part is configured as two connecting protrusions arranged in pairs and at intervals, each connecting protrusion is provided with a cylindrical surface, and the inner limiting surface and the cylindrical surface are matched through sliding friction.

[0021] As a preferred technical scheme, the top cover is provided with a fixing hole, the distal end of the driving wire is arranged in the fixing hole, and the fixing hole is arranged in correspondence with the driving wire; one side of the top cover facing the joint monomer is provided with a coupling cavity, the coupling cavity is provided with a coupling part, and the top cover and the joint monomer adjacent thereto are arranged in transmission connection through the coupling cavity, the coupling part and the transmission part.

[0022] As a preferred technical scheme, the joint base is provided with a wire passing hole, the driving wire is slidably arranged in the wire passing hole, and the wire passing hole is arranged in correspondence with the driving wire; one side of the joint base adjacent to the joint monomer is provided with a force transmission part, and the joint base and the joint monomer adjacent thereto are arranged in transmission connection through the force transmission part, the connecting cavity and the connecting part.

[0023] As a preferred technical scheme, each driving wire is provided with a protective tube, and the protective tube and the driving wire are arranged in correspondence and slidingly.

[0024] As a preferred technical scheme, two driving wires are fixedly connected to the first control disc; and / or

[0025] Two driving wires are fixedly connected to the second control disc.

[0026] As a preferred technical scheme, the first control disc comprises a first wheel disc and a first wire binding column, the first wheel disc is rotationally connected to the base, the first wire binding column is connected to the lateral end surface of the first wheel disc, the proximal end of the driving wire is fixedly connected to the first wire binding column, and a ring groove suitable for abutting the driving wire is formed on the peripheral wall of the first wheel disc; and / or

[0027] The second control disc includes a second wheel and a second wire binding post. The second wheel is rotatably connected to the base. The second wire binding post is connected to the lateral end face of the second wheel. The proximal end of the driving wire is fixedly connected to the second wire binding post. An annular groove suitable for abutting the driving wire is constructed on the outer peripheral wall of the second wheel.

[0028] The utility model also provides a surgical instrument, comprising the above-mentioned wheel-wire drive joint mechanism.

[0029] The technical solution provided by the utility model has the following advantages:

[0030] The utility model provides a wheel-wire-driven joint mechanism, comprising a joint group, a base, a first control disc, a second control disc and a driving wire; the joint group is suitable for being fixedly connected to the front-end instrument, the base is fixedly connected to the joint group, the first control disc is rotatably connected to the base, the second control disc is rotatably connected to the base, and the second control disc and the first control disc are arranged to avoid each other; there are at least two driving wires; at least one driving wire is fixedly connected to the first control disc, and at least one driving wire is fixedly connected to the second control disc; the driving wire and the base are slidably configured, and the distal end of any driving wire is fixedly connected to the joint group; the wheel-wire-driven joint mechanism has an initial straight line state and an adjustment state. In the adjustment state, by controlling the first control disc and / or the second control disc to rotate relative to the base, the driving wire can drive the joint group to adjust the bending angle of the joint group to be deflected along its extension axis direction.

[0031] With this structure, the user controls the rotation of the first control wheel and / or the second control wheel relative to the base, so that the control wheel can act on the drive line to drive the joint group to adjust the bending angle of the joint group along its extension axis. The first and second control wheels can flexibly adjust the movement position of the front-end instrument connected to the joint group to meet the application requirements in complex surgical environments in actual applications. The utility model optimizes the structural design on the control end, effectively controls the universal movement of the front-end instrument, avoids its limited range of movement, and achieves the purpose of improving the ability to flexibly drive the front-end instrument to perform universal movement. The use of the wheel-wire drive joint mechanism provided by the utility model can improve the control accuracy and effectiveness of medical personnel in the operation of the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A structural schematic view of the wheel disc wire-driven joint mechanism is provided in the utility model;

[0034] Figure 2 A three-dimensional schematic view of the joint group in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0035] Figure 3 A structural schematic view of the joint group in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0036] Figure 4 A connecting schematic view of the base and the driving wire in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0037] Figure 5 A connecting schematic view of the driving wire and the limiting sleeve in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0038] Figure 6 A connecting schematic view of the base and the first control disc in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0039] Figure 7 An installation schematic view of the first control disc and the second control disc in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0040] Figure 8 An assembly schematic view of the first control disc and the second control disc in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0041] Figure 9 A structural schematic view of the base in the wheel disc wire-driven joint mechanism is provided in the utility model;

[0042] Figure 10 A structural schematic view of the joint monomer in the universal motion driving mechanism is provided in the utility model;

[0043] Figure 11 A three-dimensional schematic view of the joint monomer in the universal motion driving mechanism is provided in the utility model;

[0044] Explanation of reference signs:

[0045] 1-joint group; 11-top cover; 111-fixing hole; 112-coupling cavity; 113-coupling part; 12-joint monomer; 121-threading hole; 122-connecting cavity; 1221-inner spherical surface; 123-connecting part; 1231-cylindrical surface; 124-transmission part; 1241-outer spherical surface; 1242-inner limiting surface; 13-joint seat; 131-threading hole; 132-force transmission part;

[0046] 2-connecting member; 21-limiting sleeve;

[0047] 3-base; 31-coupling plate; 311-first wire hole; 312-second wire hole; 313-coupling groove; 32-assembly plate; 321-first guide wheel; 322-second guide wheel; 323-mounting hole; 324-assembly hole;

[0048] 4-first control disc; 41-first wheel disc; 42-first wire binding post;

[0049] 5-second control disc; 51-second wheel disc; 52-second wire binding post;

[0050] 6-protective tube. DETAILED DESCRIPTION

[0051] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0053] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between the two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0054] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0055] EMBODIMENT

[0056] Referring to Figures 1 to 11The present embodiment provides a wheel-wire-driven joint mechanism, comprising a joint group 1, a base 3, a first control disc 4, a second control disc 5 and a driving wire (not shown in the figure); the joint group 1 is suitable for being fixedly connected to the front-end instrument, the base 3 is fixedly connected to the joint group 1, the first control disc 4 is rotatably connected to the base 3, the second control disc 5 is rotatably connected to the base 3, and the second control disc 5 and the first control disc 4 are arranged to avoid each other; at least two driving wires are provided; at least one driving wire is fixedly connected to the first control disc 4, and at least one driving wire is fixedly connected to the second control disc 5; the driving wire and the base 3 are slidably configured, and the distal end of any driving wire is fixedly connected to the joint group 1.

[0057] In this embodiment, the wheel-wire drive joint mechanism has an initial straight line state. When the wheel-wire drive joint mechanism is in the initial straight line state, all partial segments of the driving lines connected to the joint group 1 are arranged in a circular array, and the partial segments of each driving line connected to the base 3, the first control disk 4, and the second control disk 5 are arranged in a twisted 8-shaped ring.

[0058] In this embodiment, the wheel-line drive joint mechanism also has an adjustment state. In the adjustment state, by controlling the first control disc 4 and / or the second control disc 5 to rotate relative to the base 3, the driving line can drive the joint group 1 to adjust the bending angle of the joint group 1 to be deflected along its extension axis direction.

[0059] As a specific implementation, see Figure 2 The joint assembly 1 includes a top cover 11, joint monomers 12, and a joint seat 13 that are connected in series and arranged to transmit to each other. All joint monomers 12 are arranged in series between the top cover 11 and the joint seat 13. The drive line is fixedly connected to the top cover 11, the drive line is slidably connected to the joint monomers 12, and the drive line is slidably connected to the joint seat 13. The front-end instrument is connected by the top cover 11, the joint monomers 12 serve as movable parts adapted to the linkage top cover 11, and the joint seat 13 is used to install the proximal end of the joint monomers 12. When the wheel-line drive joint mechanism is in the initial straight line state, the top cover 11, the joint monomers 12, and the joint seat 13 are arranged coaxially.

[0060] As a preferred embodiment, see Figure 1 The wheel-wire joint drive mechanism also includes a connecting member 2, one end of which is fixedly connected to the joint assembly 1 and the other end to the base 3. A through-hole is defined within the connecting member 2, through which all drive lines pass. The connecting member 2 connects the joint assembly 1 and the base 3 to establish a connection between the front-end instrument and the control end. This allows the front-end instrument to be introduced into the surgical area, while the control end is kept away from the human body, providing convenient operation for the user.

[0061] In an exemplary embodiment, see Figure 2, the joint monomer 12 is provided with three, the joint group 1 is deflected by the displacement of the driving line to pull the top cover 11, the joint monomer 12 is configured with two degrees of freedom, and the deflection angle of any joint monomer 12 is set to 30°. Of course, the joint monomer 12 can be provided with more than three, and the joint deflection angle is not limited to 30°. When the first control disc 4 and the second control disc 5 rotate relative to the base 3 to pull all the driving lines, the bending movement of the joint group 1 can be flexibly adjusted.

[0062] In a specific embodiment, referring to Figure 3 , one side of the joint monomer 12 is provided with a connecting cavity 122, the connecting cavity 122 is provided with a connecting part 123, and the side of the joint monomer 12 away from the connecting cavity 122 is provided with a transmission part 124. The two adjacent joint monomers 12 are connected by the connecting cavity 122, the connecting part 123 and the transmission part 124. The side of the top cover 11 facing the joint monomer 12 is provided with a connecting cavity 112, the connecting cavity 112 is provided with a connecting part 113, and the top cover 11 and the adjacent joint monomer 12 are connected by the connecting cavity 112, the connecting part 113 and the transmission part 124. The side of the joint seat 13 adjacent to the joint monomer 12 is provided with a force transmission part 132, and the joint seat 13 and the adjacent joint monomer 12 are connected by the force transmission part 132, the connecting cavity 122 and the connecting part 123.

[0063] In some embodiments, referring to Figure 3 , the joint monomer 12 is provided with a wire passing hole 121, and the driving line is slidably arranged in the wire passing hole 121; the wire passing hole 121 is arranged corresponding to the driving line; the wire passing hole 121 can be provided with four, and the wire passing hole 121 is dispersed on the joint monomer 12 at an angle of 90°; of course, the number of wire passing holes 121 is not limited to four, and the dispersion angle is not limited to 90°.

[0064] In some embodiments, referring to Figure 3 , the top cover 11 is provided with a fixing hole 111, and the distal end of the driving line is fixed in the fixing hole 111 by welding, clamping, crimping, interference fit, glue bonding and the like; the fixing hole 111 is arranged corresponding to the driving line; the fixing hole 111 can be provided with four, and the fixing hole 111 is dispersed on the joint monomer 12 at an angle of 90°; of course, the number of fixing holes 111 is not limited to four, and the dispersion angle is not limited to 90°.

[0065] In some embodiments, referring to Figure 3 , the joint seat 13 is provided with a wire passing hole 131, and the driving line is slidably arranged in the wire passing hole 131; the wire passing hole 131 is arranged corresponding to the driving line; the wire passing hole 131 can be provided with four, and the wire passing hole 131 is dispersed on the joint monomer 12 at an angle of 90°; of course, the number of wire passing holes 131 is not limited to four, and the dispersion angle is not limited to 90°.

[0066] As an exemplary embodiment, the two adjacent joint monomers 12 are arranged by spherical surface articulation to achieve smooth and flexible adjustment of the bending posture of the joint set 1 to drive adjustment of the movement position of the front-end instrument.

[0067] In a specific embodiment, referring to Figure 3 , Figure 10 and Figure 11 , the transmission part 124 is configured as two pairs of spaced transmission protrusions, any one of which is provided with an outer spherical surface 1241, and the wall surface of the connecting cavity 122 is configured with an inner spherical surface 1221, the outer spherical surface 1241 and the inner spherical surface 1221 are matched by spherical surface friction, and the end faces of the two pairs of transmission protrusions are provided with inner limiting surfaces 1242, and the connecting part 123 is configured as two pairs of spaced connecting protrusions, any one of which is provided with a cylindrical surface 1231, and the inner limiting surface 1242 and the cylindrical surface 1231 are matched by sliding friction. When the driving line is pulled by the control end, the abutting effect of the driving line causes the deflection and bending of the two adjacent joint monomers 12, and the two pairs of transmission protrusions are matched by spherical surface friction between the outer spherical surface 1241 and the inner spherical surface 1221, so that the two transmission protrusions can move smoothly inside the connecting cavity 122; at the same time, the cylindrical surface 1231 on the connecting protrusion and the inner limiting surface 1242 on the transmission protrusion are limited and matched by sliding, and the sliding match between the cylindrical surface 1231 and the inner limiting surface 1242 can constrain the movement of the transmission part 124, and correspondingly promote the movement of the transmission part 124 inside the connecting cavity 122. This arrangement can make the transmission part 124 on one joint monomer 12 deflect around the connecting part 123 on the other joint monomer 12 and move by spherical articulation inside the connecting cavity 122 of the other joint monomer 12, which is beneficial to improving the movement accuracy and stability of the bending and deflection between the joint monomers 12.

[0068] In a specific embodiment, referring to Figure 3 , Figure 10 and Figure 11 , the transmission protrusions are arranged in a hemispherical structure, and the connecting protrusions are arranged in a cylindrical structure; the gap between the two transmission protrusions forms a notch space, and the connecting protrusions are limited and assembled through the notch space.

[0069] Further, the top cover 11 and the joint seat 13 are also provided with the same connecting transmission structure, so that the top cover 11 and the joint monomer 12 are arranged by spherical articulation, and the joint seat 13 is also arranged by spherical articulation with the joint monomer 12, so as to improve the bending flexibility of the joint set 1 and strengthen the compact design of the overall universal movement driving mechanism structure.

[0070] Specifically, referring to Figure 3The connecting cavity 112 arranged on the top cover 11 adjacent to the joint monomer 12 is arranged in the same structure as the connecting cavity 122 on the joint monomer 12, the connecting part 113 arranged on the top cover 11 adjacent to the joint monomer 12 is arranged in the same structure as the connecting part 123 on the joint monomer 12, the connecting cavity 112 on the top cover 11 is in spherical surface friction fit with the force transmission part 132 on the joint monomer 12 adjacent to the top cover 11, and the connecting part 113 on the top cover 11 is in sliding friction fit with the force transmission part 132 on the joint monomer 12 adjacent to the top cover 11, so that the top cover 11 and the joint monomer 12 adjacent thereto are flexibly arranged in spherical surface hinged configuration. The force transmission part 132 arranged on the joint seat 13 adjacent to the joint monomer 12 is arranged in the same structure as the transmission part 124 on the joint monomer 12, the force transmission part 132 on the joint seat 13 is in spherical surface friction fit with the connecting cavity 122 on the joint monomer 12 adjacent to the joint seat 13, and the force transmission part 132 on the joint seat 13 is in sliding friction fit with the connecting part 123 on the joint monomer 12 adjacent to the joint seat 13, so that the joint seat 13 and the joint monomer 12 adjacent thereto are flexibly arranged in spherical surface hinged configuration.

[0071] In a specific embodiment, referring to Figure 1 The connecting member 2 is arranged as a rigid sleeve member. It can ensure the axial relative accuracy of the joint group 1 and the control end.

[0072] In another embodiment, the connecting member 2 is arranged as a flexible sleeve member in the partial intermediate section. Through the flexible arrangement, the axial misalignment adjustment configuration of the control end and the joint group 1 can be realized to adjust the position and posture of the joint group 1 and the front end instrument connected thereto, thereby improving the flexibility of operation.

[0073] As a preferred embodiment, referring to Figure 5 A limiting sleeve 21 is mounted in the through cavity, and a limiting groove is arranged on the limiting sleeve 21 to limit the sliding of the driving wire. The limiting groove is arranged in multiple and arranged in annular array. The sliding of the driving wire is constrained and guided by the limiting sleeve 21, the movement stability of the driving wire is strengthened, and the movement accuracy of the control wire is improved.

[0074] As a preferred embodiment, a protective tube 6 is arranged on any driving wire, and the protective tube 6 and the driving wire are arranged in sliding configuration. This arrangement can prevent the mutual interference of the driving wires in the connecting member 2, and the movement of each driving wire is limited by the protective tube 6, thereby improving the reliability of the wire movement. Specifically, the two ends of the protective tube 6 can be connected to the joint seat 13 and the limiting sleeve 21 respectively.

[0075] As an exemplary embodiment, referring to Figure 6 and Figure 8The base 3 comprises a fixedly connected coupling plate 31 and an assembly plate 32, the coupling plate 31 is adapted to be fixedly connected with the proximal end of the joint set 1; the first control disc 4 and the second control disc 5 are rotatably connected on both sides of the assembly plate 32.

[0076] In the embodiment, two driving lines are fixedly connected on the first control disc 4; two driving lines are fixedly connected on the second control disc 5, and the lengths of the four driving lines are the same. Of course, in other embodiments, one driving line is fixedly connected on the first control disc 4; two driving lines are fixedly connected on the second control disc 5; or two driving lines are fixedly connected on the first control disc 4; one driving line is fixedly connected on the second control disc 5; or one driving line is fixedly connected on the first control disc 4; one driving line is fixedly connected on the second control disc 5. The specific number of the driving lines is configured according to the actual connection requirements.

[0077] As a preferred embodiment, referring to Figure 6 The first control disc 4 comprises a first wheel disc 41 and a first wire binding column 42, the first wheel disc 41 is rotatably connected with the base 3, the first wire binding column 42 is connected on the lateral end face of the first wheel disc 41, the proximal end of the driving line is fixedly connected with the first wire binding column 42, and the outer peripheral wall of the first wheel disc 41 is configured with a ring groove adapted to abut against the driving line. The ring groove on the first wheel disc 41 is fitted to limit the driving line, and the first wire binding column 42 establishes an assembly area on the first control disc 4 for connecting the end of the driving line.

[0078] Referring to Figure 7 The second control disc 5 comprises a second wheel disc 51 and a second wire binding column 52, the second wheel disc 51 is rotatably connected with the base 3, the second wire binding column 52 is connected on the lateral end face of the second wheel disc 51, the proximal end of the driving line is fixedly connected with the second wire binding column 52, and the outer peripheral wall of the second wheel disc 51 is configured with a ring groove adapted to abut against the driving line. The ring groove on the second wheel disc 51 is fitted to limit the driving line, and the second wire binding column 52 establishes an assembly area on the second control disc 5 for connecting the end of the driving line.

[0079] Taking the example that the first control disc 4 is connected with two driving lines, one of the driving lines is slidably penetrated through the first wire hole 311, abuts against one side of the first guide wheel 321, and is wound one or more circles in the ring groove on the first wheel disc 41, the end of the driving line can pass through the through hole on the first wheel disc 41 and be connected with the first wire binding column 42. The assembly mode of the other driving line is the same. The winding of the two driving lines can be symmetrically configured.

[0080] In a specific embodiment, the first wire binding column 42 can be provided with one, and the end of the driving line is clamped and fixed on the first wire binding column 42; or the first wire binding column 42 is provided with two, one of which is used for winding the driving line, and the other is used for clamping and fixing the end of the driving line, so as to improve the connection stability of the end of the driving line.

[0081] The two driving lines connected to the second control disk 5 on the other side of the assembly plate 32 can be assembled in the same manner.

[0082] In some embodiments, see Figure 6 and Figure 7 The connecting plate 31 is provided with a first wire hole 311 and a second wire hole 312. The first wire hole 311 and the second wire hole 312 are spaced apart. The first wire hole 311 slides in contact with the drive wire fixedly connected to the first control panel 4, and the second wire hole 312 slides in contact with the drive wire fixedly connected to the second control panel 5. There are two first wire holes 311, which are used to guide the sliding travel of the drive wire on the first control panel 4. There are two second wire holes 312, which are used to guide the sliding travel of the drive wire on the second control panel 5.

[0083] In a specific embodiment, the connecting plate 31 is configured as a rectangular plate structure, the two first wire holes 311 are spaced apart along the length direction of the rectangular plate structure, the first wire holes 311 at two opposite corners are corresponding to the first control panel 4, the two second wire holes 312 are spaced apart along the length direction of the rectangular plate structure, and the second wire holes 312 at two opposite corners are corresponding to the second control panel 5.

[0084] In some embodiments, see Figure 6 and Figure 7 The assembly plate 32 is provided with a first guide wheel 321 and a second guide wheel 322. Each guide wheel is rotatably connected to the assembly plate 32. The first guide wheel 321 is spaced apart from the first control disk 4 and slides in contact with the drive wire fixedly connected to the first control disk 4. The second guide wheel 322 is spaced apart from the second control disk 5 and slides in contact with the drive wire fixedly connected to the second control disk 5. The rotational movement of the first guide wheel 321 and the second guide wheel 322 does not interfere with each other. In a specific embodiment, two first guide wheels 321 are provided. The two first guide wheels 321 are used to guide the drive wire on the first control disk 4 to ensure the range of movement of the drive wire driven by the first wheel 41. Two second guide wheels 322 are provided. The two second guide wheels 322 are used to guide the drive wire on the second control disk 5 to ensure the range of movement of the drive wire driven by the second wheel 51. This configuration helps to ensure stable displacement of the drive wire and improve operational precision.

[0085] In other embodiments, the first guide wheel 321 and the second guide wheel 322 may be fixedly connected to the assembly plate 32 respectively.

[0086] In some embodiments, see Figure 9The connecting plate 31 is provided with a connecting groove 313 on the side facing the connecting member 2, and the connecting member 2 is inserted and connected in the connecting groove 313.

[0087] In some embodiments, referring to Figure 9 The assembly plate 32 is provided with a mounting hole 323, and the first control disc 4 and the second control disc 5 are jointly rotatably mounted on the mounting hole 323.

[0088] In some embodiments, referring to Figure 9 The assembly plate 32 is provided with a plurality of assembly holes 324, and the first guide wheel 321 and the second guide wheel 322 are respectively mounted on the assembly holes 324.

[0089] The user controls the rotation of the first control disc 4 and / or the second control disc 5 relative to the base 3, so that the control disc can act on the wire-driven joint group 1 to adjust the bending angle of the joint group 1 along the extension axis direction, thereby flexibly adjusting the movement position of the front-end instrument connected to the joint group 1 by the first control disc 4 and the second control disc 5, so as to meet the application requirements in the complex surgical environment in actual application.

[0090] The utility model discloses the structure design on the operating end is optimized, and the universal movement of front-end instrument is effectively controlled, avoids its movement range to be limited, reaches the purpose of improving the flexible drive front-end instrument and carries out the universal movement ability, adopts the utility model discloses a wheel disc line drive joint mechanism, can improve the control precision and effect of medical staff to the operation process operation.

[0091] In the above description, the driving wire is provided as an elastic wire, such as a nickel-titanium wire.

[0092] The utility model discloses still provide a kind of surgical instrument, including above-mentioned wheel disc line drive joint mechanism.

[0093] Obviously, the above embodiments are only examples for clearly illustrating the present application and are not intended to limit the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be enumerated. The changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A wheel line drive joint mechanism, characterized in that: include: A joint assembly (1) adapted to be fixedly connected to a front-end instrument; A base (3) fixedly connected to the joint assembly (1); A first control panel (4) is rotatably connected to the base (3); A second control panel (5) is rotatably connected to the base (3), and the second control panel (5) and the first control panel (4) are spaced apart and arranged to avoid each other; and driving lines, wherein at least two driving lines are provided; at least one driving line is fixedly connected to the first control plate (4), and at least one driving line is fixedly connected to the second control plate (5); the driving lines and the base (3) are slidably arranged, and the distal end of any driving line is fixedly connected to the joint assembly (1); The wheel-wire drive joint mechanism has an initial straight state and an adjustment state. In the adjustment state, by controlling the first control disc (4) and / or the second control disc (5) to rotate relative to the base (3), the drive line can drive the joint group (1) to adjust the bending angle of the joint group (1) to be deflected along its extension axis.

2. The roulette wire drive joint mechanism according to claim 1, characterized in that: The base (3) includes a connecting plate (31) and an assembly plate (32) that are fixedly connected, and the connecting plate (31) is suitable for being fixedly connected to the proximal end of the joint group (1); the first control disc (4) and the second control disc (5) are connected to both sides of the assembly plate (32) in a relatively rotatable manner.

3. The roulette wire drive joint mechanism according to claim 2, characterized in that: The connecting plate (31) is provided with a first wire hole (311) and a second wire hole (312), the first wire hole (311) and the second wire hole (312) are arranged at intervals, the first wire hole (311) and the driving wire fixedly connected to the first control panel (4) are correspondingly slidably connected, and the second wire hole (312) and the driving wire fixedly connected to the second control panel (5) are correspondingly slidably connected; and / or The assembly plate (32) is provided with a mounting hole (323), and the first control panel (4) and the second control panel (5) are rotatably mounted on the mounting hole (323) together.

4. The roulette wire drive joint mechanism according to claim 2, characterized in that: The assembly plate (32) is provided with a first guide wheel (321) and a second guide wheel (322), and either guide wheel is rotatably connected or fixedly connected to the assembly plate (32). The first guide wheel (321) and the first control disk (4) are arranged at intervals, and the first guide wheel (321) and the driving line fixedly connected to the first control disk (4) are correspondingly slidably connected. The second guide wheel (322) and the second control disk (5) are arranged at intervals, and the second guide wheel (322) and the driving line fixedly connected to the second control disk (5) are correspondingly slidably connected.

5. The roulette wire drive joint mechanism according to claim 4, characterized in that: The assembly plate (32) is provided with a plurality of assembly holes (324), and the first guide wheel (321) and the second guide wheel (322) are respectively mounted on the assembly holes (324).

6. The roulette wire drive joint mechanism according to claim 2, characterized in that: It also includes a connecting member (2), one end of the connecting member (2) is fixedly connected to the joint group (1), and the other end of the connecting member (2) is fixedly connected to the base (3), and a through cavity is provided in the connecting member (2), and all the driving lines are passed through the through cavity.

7. The roulette wire drive joint mechanism according to claim 6, characterized in that: A coupling groove (313) is provided on one side of the coupling plate (31) facing the connecting member (2), and the connecting member (2) is plugged and connected in the coupling groove (313).

8. The roulette wire drive joint mechanism according to claim 6, characterized in that: The joint assembly (1) comprises a top cover (11), a joint monomer (12) and a joint seat (13) which are connected in series and arranged to transmit to each other, at least three joint monomers (12) are provided, and all the joint monomers (12) are sequentially arranged in series between the top cover (11) and the joint seat (13), the driving line and the top cover (11) are fixedly connected, the driving line and the joint monomer (12) are slidably connected, and the driving line and the joint seat (13) are slidably connected.

9. The roulette wire drive joint mechanism according to claim 8, characterized in that: The joint monomer (12) is provided with a wire hole (121), the driving wire is slidably passed through the wire hole (121), and the wire hole (121) is arranged corresponding to the driving wire; a connecting cavity (122) is provided on one side of the joint monomer (12), a connecting portion (123) is provided in the connecting cavity (122), a transmission portion (124) is provided on the side of the joint monomer (12) away from the connecting cavity (122), and two adjacent joint monomers (12) are connected and arranged for transmission through the connecting cavity (122), the connecting portion (123) and the transmission portion (124).

10. The roulette wire drive joint mechanism according to claim 9, characterized in that: The two adjacent joint monomers (12) are arranged through spherical hinges, the transmission part (124) is configured as two transmission protrusions arranged in pairs and spaced apart, any one of the transmission protrusions is provided with an outer spherical surface (1241), the wall surface of the connecting cavity (122) is constructed with an inner spherical surface (1221), the outer spherical surface (1241) and the inner spherical surface (1221) are matched through spherical friction, the end surfaces of the paired transmission protrusions facing each other are provided with inner limit surfaces (1242), the connecting part (123) is configured as two connecting protrusions arranged in pairs and spaced apart, any one of the connecting protrusions is provided with a cylindrical surface (1231), and the inner limit surface (1242) and the cylindrical surface (1231) are matched through sliding friction.

11. The roulette wire drive joint mechanism according to claim 10, characterized in that: The top cover (11) is provided with a fixing hole (111), the distal end of the driving line is installed in the fixing hole (111), and the fixing hole (111) is arranged corresponding to the driving line; the top cover (11) is provided with a connecting cavity (112) on the side facing the joint monomer (12), and a connecting portion (113) is provided in the connecting cavity (112). The top cover (11) and the adjacent joint monomer (12) are connected to each other through the connecting cavity (112), the connecting portion (113) and the transmission portion (124).

12. The roulette wire drive joint mechanism according to claim 10, characterized in that: The joint seat (13) is provided with a threading hole (131), and the driving line is slidably passed through the threading hole (131), and the threading hole (131) is arranged corresponding to the driving line; the side of the joint seat (13) adjacent to the joint monomer (12) is provided with a force transmission part (132), and the joint seat (13) and the adjacent joint monomer (12) are connected to each other through the force transmission part (132), the connecting cavity (122) and the connecting part (123).

13. The roulette wire drive joint mechanism according to claim 6, characterized in that: A protective tube (6) is provided on the outer shell of any driving wire, and the protective tube (6) and the driving wire are correspondingly configured for sliding.

14. The roulette wire drive joint mechanism according to any one of claims 1 to 13, characterized in that: The first control panel (4) is fixedly connected to the two driving wires; and / or The second control panel (5) is fixedly connected to the two driving wires.

15. The wheel line drive joint mechanism according to any one of claims 1 to 13, characterized in that: The first control disc (4) comprises a first wheel (41) and a first wire-binding post (42), wherein the first wheel (41) is rotatably connected to the base (3), the first wire-binding post (42) is connected to a lateral end surface of the first wheel (41), the proximal end of the driving wire is fixedly connected to the first wire-binding post (42), and an annular groove suitable for abutting the driving wire is constructed on the outer peripheral wall of the first wheel (41); and / or The second control disc (5) includes a second wheel (51) and a second wire binding post (52), wherein the second wheel (51) is rotatably connected to the base (3), the second wire binding post (52) is connected to the lateral end face of the second wheel (51), the proximal end of the driving wire is fixedly connected to the second wire binding post (52), and an annular groove suitable for abutting the driving wire is constructed on the outer peripheral wall of the second wheel (51).

16. A surgical instrument, characterized in that: It includes the wheel line drive joint mechanism described in any one of claims 1-15.

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